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

Abstract

The present application relates to the field of target detection technology and discloses a passive dual-line array port and starboard target judgment method, device, equipment and medium, wherein the number of target data points required for beamforming is determined based on the acquired array length of the passive dual-line array; based on the number of target data points, frequency domain beamforming operations are performed on the two linear arrays in the passive dual-line array respectively to determine the beam output in each beam direction; based on the beam output, the energy output corresponding to the target at different positions is determined; 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; the port energy output and the starboard energy output are selectively accumulated to obtain the corresponding total energy output, and the port and starboard directions of the target are judged based on the total energy output. The technical solution provided by the present application can improve the azimuth resolution and stability of the ocean detection system in complex environments.

Description

Technical Field

[0001] The present application relates to the field of target detection technology, and in particular to a passive dual-line array starboard and port target judgment method, device, equipment and medium. Background Art

[0002] Linear array sonar systems are crucial in civilian ocean exploration, especially in applications on ocean research vessels. Distinguishing between starboard and port targets is crucial for the accurate detection of various targets.

[0003] However, due to the beam spread characteristics of traditional single-line array systems, accurate direction determination is difficult. This results in frequent course adjustments or the use of extremely long streamers, which increases costs. Existing dual-line array solutions improve detection capabilities through large apertures and long streamers, but these solutions require high precision in attitude control, and fluctuations in the ocean environment can cause signal distortion. Three-element array solutions simplify the attitude control process, but due to the limited array size, they are unable to meet the long-range, high-resolution detection requirements in open sea and deep sea environments.

[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] The present application provides a passive dual-line array port and starboard target judgment method, device, equipment and medium, which achieves the technical effect of improving the azimuth resolution and stability of the ocean detection system in complex environments.

[0006] In order to achieve the above objectives, the main technical solutions adopted in this application include:

[0007] In a first aspect, an embodiment of the present application provides a method for determining port and starboard targets in a passive dual-line array, the method comprising:

[0008] Determine the number of target data points required for beamforming based on the acquired array length of the passive dual-linear array;

[0009] Based on the target data points, performing frequency domain beamforming operations on two linear arrays in the passive dual-linear array respectively to determine beam outputs in respective beam directions;

[0010] Determining energy outputs corresponding to different positions of the target based on the beam output; wherein the energy outputs include a port energy output corresponding to the target being located at a port position and a starboard energy output corresponding to the target being located at a starboard position;

[0011] The port energy output and the starboard energy output are selectively accumulated to obtain a corresponding total energy output, and the port and starboard directions of the target are determined according to the total energy output.

[0012] This embodiment provides a passive dual-line array target judgment method for port and starboard. Based on the acquired array length of the passive dual-line array, the number of target data points required for beamforming is determined, providing data support for subsequent beamforming operations. Frequency-domain beamforming operations are then performed on the two linear arrays in the passive dual-line array according to the number of target data points, generating beam outputs in different beam directions. Based on the beam output, the energy output corresponding to the target at different positions is calculated, particularly the energy output on the port and starboard sides, providing a basis for azimuth judgment. Finally, the energy outputs on the port and starboard sides are selectively accumulated to obtain the total energy output, and the port and starboard azimuth of the target are determined by analyzing the total energy output. This enables stable operation in complex marine environments, effectively improves azimuth resolution, ensures target positioning accuracy, and thus enhances detection stability and reliability.

[0013] In one embodiment, determining the number of target data points required for beamforming based on the acquired array length of the passive dual-linear array includes:

[0014] According to the acquired array length of the passive dual-linear array, the number of initial data points required for beamforming is determined by the acoustic propagation speed and sampling frequency;

[0015] The initial number of data points is fine-tuned using the number of single array data points transmitted each time to obtain the target number of data points required for beamforming.

[0016] This embodiment calculates the initial number of data points based on the array length, acoustic propagation speed, and sampling frequency, ensuring that the beamforming process captures sufficient signal detail, thereby improving frequency resolution and, in turn, enhancing azimuth resolution. This allows for accurate discrimination of targets at different orientations in complex ocean environments. By fine-tuning the initial number of data points, each data transmission is ensured to be adapted to the transmission capacity, avoiding data loss or errors and ensuring data transmission stability. This fine-tuning helps reduce processing errors caused by incomplete data and improves stability and anti-interference capabilities in complex environments.

[0017] In one embodiment, performing frequency domain beamforming operations on two linear arrays in the passive dual-linear array based on the target data point count to determine beam outputs in respective beam directions includes:

[0018] Performing time-frequency transformation on the time domain signals received by each array element of the two linear arrays in the passive dual-linear array to obtain corresponding frequency domain signals;

[0019] Determine the beam direction corresponding to each beam output according to a predefined number of beamforming;

[0020] Determine the spectrum line index according to the operating frequency band range of the beamforming;

[0021] For any linear array in the passive dual-linear array, the beam output of each frequency point in the spectral line index in each beam direction is determined based on the frequency domain signal and the beam direction.

[0022] This embodiment converts the time-domain signal in the passive dual-line array into a frequency-domain signal by performing a time-frequency transformation on the signal, thereby improving the frequency resolution and effectively distinguishing interference such as noise and echo, providing higher azimuth resolution and signal stability. Furthermore, by pre-defining the beam direction and selecting the appropriate frequency band range, multiple beam outputs can be accurately configured to ensure that the target signal can be received and analyzed in multiple directions. This not only helps to distinguish targets with similar directions, but also improves signal stability, especially in a dynamically changing ocean environment. In addition, calculations based on frequency-domain signals and beam directions can effectively enhance stability and accuracy, enabling the ocean detection system to maintain efficient performance in complex environments and provide stronger target positioning and tracking capabilities.

[0023] In one embodiment, determining the spectral line index according to the operating frequency band range of the beamforming includes:

[0024] Acquire a beamforming operating frequency band range; wherein the operating frequency band range includes a minimum operating frequency and a maximum operating frequency;

[0025] Determine the minimum frequency point index corresponding to the lowest operating frequency by rounding the result of multiplying the target number of data points and the lowest operating frequency by the sampling frequency;

[0026] Determine the maximum frequency point index corresponding to the highest operating frequency by rounding the result of multiplying the target number of data points and the highest operating frequency by the sampling frequency;

[0027] The spectral line index is determined according to the minimum frequency point index and the maximum frequency point index.

[0028] This embodiment can filter out irrelevant frequency components and enhance the efficiency and stability of signal processing by accurately determining the operating frequency band range of beamforming. On this basis, the minimum and maximum frequency indexes are calculated to ensure that the signal is accurately discretized in the frequency domain and that low-frequency and high-frequency signals are effectively captured. Accurate frequency index calculation helps to improve the ability to capture low-frequency signals and improve azimuth resolution. At the same time, the frequency band range is reasonably controlled to avoid high-frequency noise interference and enhance anti-interference capability and stability. This can significantly improve the resolution and stability of the ocean detection system in complex environments, effectively improve target detection accuracy, and more accurately identify and locate targets, especially in environments with multiple targets or large interference.

[0029] In one embodiment, determining the energy output corresponding to the target being located at different positions based on the beam output includes:

[0030] constructing a noise covariance matrix based on the number of target data points and the distance between two linear arrays in the passive dual-linear array;

[0031] Determining interference signal steering vectors corresponding to different positions of the target, and obtaining corresponding beamforming weighting coefficients based on the weighting of the interference signal steering vectors and the noise covariance matrix;

[0032] In the beam direction, combining beam outputs corresponding to two linear arrays in the passive dual-linear array into a combined vector;

[0033] The corresponding energy output is obtained by multiplying the beamforming weighting coefficient and the conjugate transpose of the combination vector.

[0034] This embodiment helps to accurately estimate the noise characteristics in the process through the construction of the noise covariance matrix, provides a basis for subsequent beam weighting, reduces the impact of noise on the signal, and thus improves the stability of the signal and the signal-to-noise ratio. Secondly, by weighting the interference signal steering vector, it is possible to effectively suppress interference signals from different directions, further improving the stability in complex environments. Combining the beam outputs of the two linear arrays enhances the directionality and spatial resolution of the beam, and can more accurately identify the direction of the target. On this basis, the energy output is calculated and weighted to further optimize the beam formation and enhance the recognition of the target signal. This can achieve higher azimuth resolution and stability in complex marine environments, thereby improving detection accuracy and reliability.

[0035] In one embodiment, selectively accumulating the port energy output and the starboard energy output to obtain a corresponding total energy output includes:

[0036] Obtain the operating frequency band range of beamforming;

[0037] For each frequency point within the operating frequency band, if the port energy output is greater than the starboard energy output, accumulating the port energy output to obtain the corresponding total energy output;

[0038] For each frequency point within the operating frequency band, if the port energy output is less than the starboard energy output, the starboard energy outputs are accumulated to obtain the corresponding total energy output.

[0039] This embodiment provides a frequency selection basis for beamforming by determining the operating frequency band range, thereby optimizing signal reception and processing, reducing noise interference, and ensuring signal clarity. Next, based on the difference in energy output between the port and starboard sides, the energy output of the stronger side is selectively accumulated. When the port side energy output is greater than the starboard side, the port side energy is accumulated; conversely, when the starboard side energy output is stronger, the starboard side energy is accumulated. In this way, the signal strength in the direction of the stronger signal can be enhanced, and interference or noise from the other direction can be suppressed, thereby improving the identifiability and directional resolution of the target signal. This dynamically adjusted energy output method effectively copes with changes in signal strength and environmental interference, ultimately improving detection accuracy and stability.

[0040] In one embodiment, the total energy output includes a port total energy output and a starboard total energy output; and determining the port and starboard directions of the target based on the total energy output includes:

[0041] Obtaining a port-to-starboard energy ratio coefficient based on a comparison of the port total energy output and the starboard total energy output;

[0042] When the port and starboard energy ratio coefficient is greater than or equal to a first preset port and starboard resolution threshold, determining that the target is located at the port side;

[0043] When the starboard and port energy ratio coefficient is less than or equal to a second preset starboard and port resolution threshold, it is determined that the target is located at the starboard direction.

[0044] This embodiment calculates the port and starboard energy ratio coefficient by comparing the total energy output on the port side with the total energy output on the starboard side. This process provides an accurate basis for subsequent azimuth judgment. When the port and starboard energy ratio coefficient is greater than or equal to the first preset threshold, the target is determined to be located on the port side; when the port and starboard energy ratio coefficient is less than or equal to the second preset threshold, the system determines that the target is located on the starboard side. Through this judgment method based on energy ratio, it is possible to flexibly adapt to complex marine environments, effectively avoid signal interference and the influence of weak signals, and ensure the accuracy of azimuth judgment. This not only improves the azimuth resolution, but also enhances the stability and reliability in complex environments, thereby achieving more accurate target positioning and detection results.

[0045] In a second aspect, an embodiment of the present application provides a passive dual-line array port and starboard target determination device, the device comprising:

[0046] a data point number determination unit, configured to determine the target number of data points required for beamforming based on the acquired array length of the passive dual-linear array;

[0047] a beam output determination unit, configured to perform frequency domain beamforming operations on two linear arrays in the passive dual-linear array based on the target data point number, and determine beam outputs in respective beam directions;

[0048] an energy output determining unit, configured to determine, based on the beam output, energy outputs corresponding to when the target is located at different positions; wherein the energy outputs include a port energy output corresponding to when the target is located at a port position and a starboard energy output corresponding to when the target is located at a starboard position;

[0049] The target direction judgment unit is used to selectively accumulate the port energy output and the starboard energy output to obtain a corresponding total energy output, and judge the port and starboard directions of the target according to the total energy output.

[0050] In a third aspect, an embodiment of the present application provides a computer device, including:

[0051] A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the above-mentioned passive dual-line array port and starboard target judgment method by executing the computer instructions.

[0052] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are used to enable a computer to execute the above-mentioned passive dual-line array port and starboard target judgment method. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0054] Figure 1 A flowchart of a passive dual-line array port and starboard target determination method provided in an embodiment of the present application;

[0055] Figure 2 Flowchart of step S1 provided in the embodiment of the present application;

[0056] Figure 3 Flowchart of step S3 provided in the embodiment of the present application;

[0057] Figure 4 Flowchart of step S35 provided in the embodiment of the present application;

[0058] Figure 5 Flowchart of step S5 provided in the embodiment of the present application;

[0059] Figure 6 A schematic diagram of a passive dual-line array provided in an embodiment of the present application;

[0060] Figure 7 A flowchart for obtaining the corresponding total energy output provided in an embodiment of the present application;

[0061] Figure 8 A flowchart for determining the port or starboard orientation of a target provided in an embodiment of the present application;

[0062] Figure 9 A block diagram of a passive dual-line array port and starboard target determination device provided in an embodiment of the present application;

[0063] Figure 10 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions 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 making creative efforts shall fall within the scope of protection of this application.

[0065] Linear array sonar systems play a vital role in civilian ocean exploration, particularly on oceanographic research vessels. Their port-to-starboard azimuth resolution is crucial for accurately detecting various marine targets. However, traditional single-line array sonar systems often lack accurate azimuth determination due to the inherent horizontal spread of their sonar beams. This limitation forces research vessels to frequently adjust their course or use extra-long streamers to compensate, wasting time and increasing research costs.

[0066] To address this issue, existing dual-line array solutions have improved detection capabilities by adopting independent retraction and deployment devices, combined with a large aperture and long tow cable design. However, dual-line array systems require high attitude control accuracy. Factors such as rough waves and current disturbances in the actual ocean environment can easily cause signal distortion, affecting 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. In particular, in complex environments such as deep sea and open sea, long-range, high-precision detection missions still face challenges.

[0067] In order to solve the above technical problems, according to an embodiment of the present application, an embodiment of a passive dual-line array starboard and port target judgment method 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 a 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.

[0068] In this embodiment, a passive dual-line array port and starboard target determination method is provided. Figure 1 This is a flow chart of a passive dual-line array port and starboard target determination method provided in an embodiment of the present application, as shown in FIG. Figure 1 As shown, the process includes the following steps:

[0069] Step S1 : determining the number of target data points required for beamforming based on the acquired array length of the passive dual-linear array.

[0070] Specifically, in the passive dual-line array beamforming, first based on the array length l of the dual-line array, combined with the sound propagation speed c and the sampling frequency F s , through the formula Calculate the initial number of data points The coefficient α is usually set to 10 to ensure that there are enough data points for accurate beamforming processing. In order to meet the transmission requirements of the system data interface module, the number of single array data points N transmitted each time is further blocksize The number of initial data points Fine-tune and finally get the target data points L BF , the formula is This process ensures that the number of data points is divisible by N. blocksize , thereby optimizing data transmission and processing efficiency. This lays a solid foundation for subsequent beamforming processing, ensuring accurate and efficient signal processing. Furthermore, determining the target number of data points only needs to be performed once during the initial phase, eliminating the need for subsequent repetition, laying the foundation for subsequent beamforming processing.

[0071] Step S3: Based on the target data points, frequency domain beamforming operations are performed on the two linear arrays in the passive dual-linear array respectively to determine the beam output in each beam direction.

[0072] Specifically, in a passive dual-line array, based on the number of target data points L BF , frequency domain beamforming operation of two linear arrays is a key step to achieve direction resolution and target positioning. Specifically, firstly, discrete Fourier transform (DFT) is performed on the time domain signals received by each element of the two linear arrays to convert the signals from time domain to frequency domain. Then, according to the predefined number of beam directions M and each beam direction θm , calculate the beam output BF of each frequency point k in each beam direction l,m [k]. This process achieves directional resolution by weightedly superimposing the frequency domain signals of different array elements to form a beam output in a specific direction. Finally, by selectively summing the energy output of each frequency point, the total energy output in each beam direction is obtained, providing data support for subsequent target direction determination. This process not only improves directional resolution but also optimizes signal processing efficiency and accuracy.

[0073] Step S5: determining energy output corresponding to different positions of the target based on the beam output; wherein the energy output includes a port energy output corresponding to the target being at the port position and a starboard energy output corresponding to the target being at the starboard position.

[0074] Specifically, by calculating the beam output of each frequency point in each beam direction, the energy output corresponding to the target at the port and starboard positions can be obtained. m , calculate the port energy output P m [k] and starboard energy output S m [k]. Port energy output P m [k] is the beamforming weighting factor when assuming the target is on the port side. and the combination vector [BF 0,m [k],BF 1,m [k]] is obtained by multiplying the conjugate transpose of [k]]; the starboard energy output S m [k] is the beamforming weighting coefficient when the target is located on the starboard side. By comparing the energy output on the port and starboard sides, the target's specific direction can be determined, thereby achieving port / starboard resolution. This process not only improves directional resolution accuracy but also provides critical data support for subsequent target positioning and tracking.

[0075] Step S7: selectively accumulate the port energy output and the starboard energy output to obtain the corresponding total energy output, and determine the port and starboard directions of the target based on the total energy output.

[0076] 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 starboard energy output S m [k]. If P m [k]>S m [k], then P m [k] Added to the total energy output BF on the port side p [m]; if S m[k]>P m [k], then S m [k] Added to the total energy output BF on the starboard side s [m]. This method can be used to determine the total energy output for both port and starboard directions in each beam direction. Ultimately, by comparing the total energy output for port and starboard, the target's specific bearing can be determined. This method, through selective accumulation of energy output, effectively improves directional resolution accuracy and system robustness, providing a reliable technical approach for passive acoustic positioning and tracking.

[0077] This embodiment provides a passive dual-line array target judgment method for port and starboard. Based on the acquired array length of the passive dual-line array, the number of target data points required for beamforming is determined, providing data support for subsequent beamforming operations. Frequency-domain beamforming operations are then performed on the two linear arrays in the passive dual-line array according to the number of target data points, generating beam outputs in different beam directions. Based on the beam output, the energy output corresponding to the target at different positions is calculated, particularly the energy output on the port and starboard sides, providing a basis for azimuth judgment. Finally, the energy outputs on the port and starboard sides are selectively accumulated to obtain the total energy output, and the port and starboard azimuth of the target are determined by analyzing the total energy output. This enables stable operation in complex marine environments, effectively improves azimuth resolution, ensures target positioning accuracy, and thus enhances detection stability and reliability.

[0078] Figure 2 The flowchart of step S1 provided in the embodiment of the present application may include the following steps:

[0079] Step S11 : determining the number of initial data points required for beamforming according to the acquired array length of the passive dual-linear array and the acoustic propagation velocity and the sampling frequency.

[0080] Specifically, in beamforming, the initial number of data points determines the signal's frequency domain resolution and the length of the processing window. A sufficient number of data points improves frequency resolution, enabling more precise analysis of the signal's frequency characteristics. Furthermore, the number of data points also affects beamforming accuracy and directional resolution. The initial number of data points is determined by the following formula:

[0081]

[0082] in, is the number of initial data points; α is the coefficient, which is 10; is the array length l; c is the speed of sound propagation, in m / s, usually 1530 m / s; F s is the sampling frequency;

[0083] Step S13: fine-tune the initial number of data points using the number of single array data points transmitted each time to obtain the target number of data points required for beamforming.

[0084] Specifically, the single array data point number represents the number of data points of a single array element signal transmitted by the data interface module each time. In actual operation, data transmission and processing usually need to be performed according to a fixed data block size. In order to ensure efficiency and consistency, the initial data point number needs to be Adjusted to be divisible by the number of single array data points N blocksize This can avoid incomplete data blocks during data transmission and improve the overall transmission performance. The calculation formula for the target number of data points after fine-tuning is as follows:

[0085]

[0086] Among them, L BF is the target data point number; is the number of initial data points; N blocksize is the number of single array metadata points; The fine-tuned target data point number ensures the stability of data transmission, avoids incomplete data blocks, and reduces errors or data loss that may occur during transmission.

[0087] This embodiment calculates the initial number of data points based on the array length, acoustic propagation speed, and sampling frequency, ensuring that the beamforming process captures sufficient signal detail, thereby improving frequency resolution and, in turn, enhancing azimuth resolution. This allows for accurate discrimination of targets at different orientations in complex ocean environments. By fine-tuning the initial number of data points, each data transmission is ensured to be adapted to the transmission capacity, avoiding data loss or errors and ensuring data transmission stability. This fine-tuning helps reduce processing errors caused by incomplete data and improves stability and anti-interference capabilities in complex environments.

[0088] Figure 3 The flowchart of step S3 provided in the embodiment of the present application may include the following steps:

[0089] Step S31 , performing time-frequency transformation on the time domain signals received by each array element of the two linear arrays in the passive two-linear array to obtain corresponding frequency domain signals.

[0090] Specifically, in beamforming, frequency domain signals are used to calculate the beam output in a specific direction, thereby achieving directional resolution and target positioning. The process of converting time domain signals into frequency domain signals is usually achieved through discrete Fourier transform (DFT).

[0091] For the time domain signals received by each element of the two linear arrays , perform DFT transformation to obtain the corresponding frequency domain signal Where i = 0, 1, …, 2N − 1, the first N elements are line array elements #0, and the last N elements are line array elements #1. Specifically, in a passive two-line array, there are two line arrays, each containing N elements. These two line arrays can be considered two independent sensor arrays, each used for receiving or transmitting signals. For ease of processing and distinction, these two line arrays are usually numbered line array #0 and line array #1, respectively, with N being the number of elements in a single line array. represents the time domain signal received by the i-th array element, represents the frequency domain signal of the i-th array element after DFT transformation.

[0092] Step S33: Determine the beam direction corresponding to each beam output according to the predefined beamforming quantity.

[0093] Specifically, the beam direction refers to the direction of the beamforming output, usually expressed as the beam angle θ m Indicates. θ m is the direction of the mth beam, in degrees. The beam direction can be selected based on different distribution methods:

[0094] If the beamformation is uniformly distributed in the angular space, then ;

[0095] If the beamformation is uniformly distributed in the cosine domain, then ;

[0096] Where m is the index of the beamforming function, which takes values ​​of 0, 1, …, M-1; M is the predefined number of beamforming functions.

[0097] Step S35: determining a spectrum line index according to the operating frequency band range of the beamforming.

[0098] Specifically, the process of determining spectral line indices based on the operating frequency band of beamforming effectively delineates the frequency range to be processed. Then, by precisely determining the minimum and maximum frequency indexes, it is possible to clearly identify which frequencies fall within the valid operating range, thereby accurately partitioning the signal in the frequency domain. This process ensures that only the target frequency components are retained during signal processing, while irrelevant frequency components are filtered out, thus preventing interference and noise from affecting signal processing. Ultimately, precise spectral line indexing improves signal processing accuracy and resolution, thereby enhancing target location and detection capabilities.

[0099] Step S37 : for any linear array in the passive dual-linear array, based on the frequency domain signal and the beam direction, determine the beam output of each frequency point in the spectrum line index in each beam direction.

[0100] Specifically, the contribution of each element is affected by its relative position (determined by pos l [i]) and the beam direction (via θ m ). Different array element positions will cause different delays in the received signal, thus affecting its phase. By weighted summing the contributions of all array elements, the beam output BF at each frequency point k is obtained. l,m [k]:

[0101]

[0102] Among them, BF l,m [k] is the beam output of the mth beamformed on the lth linear array at the kth frequency point; l=0,1, is the 0 / 1#th linear array; θ m is the beam direction corresponding to the mth beamforming; m is the mth beamforming, m=0,1,…,M−1, M is the number of beamforming; 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 kth frequency point of the i-th array element; j is the imaginary unit, ; F s is the sampling frequency; pos l [i] is the coordinate position of the ith element of the lth line array; c is the speed of sound propagation in m / s, usually 1530 m / s; L BF is the target number of data points.

[0103] Repeat the above process for different beam directions θ m , generating different beam outputs.

[0104] This embodiment converts the time-domain signal in the passive dual-line array into a frequency-domain signal by performing a time-frequency transformation on the signal, thereby improving the frequency resolution and effectively distinguishing interference such as noise and echo, providing higher azimuth resolution and signal stability. Furthermore, by pre-defining the beam direction and selecting the appropriate frequency band range, multiple beam outputs can be accurately configured to ensure that the target signal can be received and analyzed in multiple directions. This not only helps to distinguish targets with similar directions, but also improves signal stability, especially in a dynamically changing ocean environment. In addition, calculations based on frequency-domain signals and beam directions can effectively enhance stability and accuracy, enabling the ocean detection system to maintain efficient performance in complex environments and provide stronger target positioning and tracking capabilities.

[0105] Figure 4 The flowchart of step S35 provided in the embodiment of the present application may include the following steps:

[0106] Step S351: Acquire a working frequency band range of beamforming; wherein the working frequency band range includes a minimum working frequency and a maximum working frequency.

[0107] Step S353 , rounding the product of the target number of data points and the lowest operating frequency divided by the sampling frequency to determine the minimum frequency point index corresponding to the lowest operating frequency.

[0108] Step S355 , rounding the product of the target number of data points and the highest operating frequency divided by the sampling frequency to determine the maximum frequency point index corresponding to the highest operating frequency.

[0109] Step S357: Determine the spectrum line index according to the minimum frequency point index and the maximum frequency point index.

[0110] Specifically, the operating frequency band range of the beamforming can be obtained according to the characteristics of the signal or the needs of the user. L ,B H ], which can focus on processing the frequency components related to the target signal and improve the effect and efficiency of beamforming, where B L is the minimum operating frequency, B H is the highest operating frequency. In the signal processing process, the frequency is discretized into frequency points, and the index of these frequency points is the frequency index. The minimum frequency index represents the position corresponding to the lowest operating frequency in the discrete frequency, which helps to determine the starting frequency position of beamforming. Similarly, the frequency is discretized in signal processing, and the maximum frequency index represents the upper limit position of the frequency component in the signal, which helps to accurately define the upper limit of the frequency in the beamforming process. Minimum frequency index k min and the maximum frequency index k max is determined as follows:

[0111]

[0112]

[0113] Among them, round(•) is the rounding operator, L BF is the number of target data points; B L is the minimum operating frequency; F s is the sampling frequency.

[0114] Therefore, the range of the spectral line index k is [k min ,k max ], the total number of spectral lines N within the working frequency band can be determined bins =k max -k min +1.

[0115] This embodiment can filter out irrelevant frequency components and enhance the efficiency and stability of signal processing by accurately determining the operating frequency band range of beamforming. On this basis, the minimum and maximum frequency indexes are calculated to ensure that the signal is accurately discretized in the frequency domain and that low-frequency and high-frequency signals are effectively captured. Accurate frequency index calculation helps to improve the ability to capture low-frequency signals and improve azimuth resolution. At the same time, the frequency band range is reasonably controlled to avoid high-frequency noise interference and enhance anti-interference capability and stability. This can significantly improve the resolution and stability of the ocean detection system in complex environments, effectively improve target detection accuracy, and more accurately identify and locate targets, especially in environments with multiple targets or large interference.

[0116] Figure 5 The flowchart of step S5 provided in the embodiment of the present application may include the following steps:

[0117] Step S51 : constructing a noise covariance matrix based on the number of target data points and the distance between two linear arrays in the passive dual-linear array.

[0118] Specifically, a noise covariance matrix is ​​constructed to describe the correlation of noise between different array elements. The noise covariance matrix can be used to suppress noise, thereby improving the beamforming effect. n is a 2×2 matrix that describes the correlation of noise between the two linear arrays, specifically expressed as follows:

[0119]

[0120] Where c is the speed of sound propagation in m / s, usually 1530 m / s; L BF is the number of target data points; k is the kth frequency point; F s is the sampling frequency; d is the distance between the two linear arrays.

[0121] Step S53: determining the interference signal steering vectors corresponding to the targets at different positions, and obtaining corresponding beamforming weighting coefficients according to the weighting of the interference signal steering vectors and the noise covariance matrix.

[0122] Specifically, the interference signal steering vector represents the phase difference between signals from the interference direction at different array elements when the target is at a specific location (port or starboard). The beamforming weighting coefficient is used to weight the signals from different array elements during beamforming to enhance the signal in a specific direction and suppress it in other directions.

[0123] See also Figure 6 This is a schematic diagram of a passive two-line array. Figure 6The H in the subscript stands for hydrophone, which can also be understood as a sensor. The first number in the subscript (0 or 1) represents the array number, where 0 represents the 0th array and 1 represents the 1st array. The second number in the subscript represents the element number in the array. When the target is on the port side, the target on the starboard side is considered as interference, and the corresponding interference signal steering vector is the right interference signal steering vector. :

[0124]

[0125] When the target is on the starboard side, the target on the port side is considered as interference. At this time, the corresponding interference signal steering vector is the left interference signal steering vector. :

[0126]

[0127] Where d is the distance between the two linear arrays; j is the imaginary unit, ; k is the kth frequency point; F s is the sampling frequency; c is the speed of sound propagation, the unit is m / s, usually 1530m / s; L BF is the number of target data points; θ m The beam direction corresponding to the mth beamformer.

[0128] The calculation of the beamforming weighting coefficient is based on the interference signal steering vector and the noise covariance matrix. Specifically, when the target is on the port side, the corresponding beamforming weighting coefficient is the left beamforming weighting coefficient :

[0129]

[0130] When the target is on the starboard side, the corresponding beamforming weighting coefficient is the right beamforming weighting coefficient :

[0131]

[0132] Among them, ρ is the ratio of synthetic interference to background noise, which can be adjusted according to actual conditions, and the default value can be set to 10; R n is the noise covariance matrix; is the interference noise covariance matrix.

[0133] Step S55 , combining the beam outputs corresponding to the two linear arrays in the passive dual-linear array into a combined vector in the beam direction.

[0134] Specifically, by scanning all beam directions and frequencies one by one, the characteristics of the target signal in different directions and frequencies can be systematically analyzed, thereby achieving the left and right side resolution of the target.m And each frequency point k (k min ≤k≤k max ), calculate the beam outputs of the two arrays and combine these outputs into a vector. Then, based on this vector, calculate the energy output when the target is located on the port and starboard sides.

[0135] From the 0# linear array and the 1# linear array, obtain the kth frequency point in the beam direction θ m Beam output BF on 0,m [k] and BF 1,m [k], and form a combination vector [BF 0,m [k],BF 1,m [k]].

[0136] Step S57 : multiplying the beamforming weight coefficient by the conjugate transpose of the combination vector to obtain a corresponding energy output.

[0137] Specifically, the energy output is calculated based on the multiplication of the beamforming weight coefficient and the conjugate transpose of the combination vector. Specifically, for the case where the target is on the port side and the starboard side, the energy output of each frequency point is calculated separately. When the target is on the port side, the energy output of the corresponding k-th frequency point is P m [k]:

[0138]

[0139] When the target is on the port side, the energy output of the corresponding kth frequency point is S m [k]:

[0140]

[0141] By calculating the energy output at each frequency point, we can analyze the characteristics of the signal at different frequencies and directions, and improve the effect and efficiency of beamforming.

[0142] This embodiment helps to accurately estimate the noise characteristics in the process through the construction of the noise covariance matrix, provides a basis for subsequent beam weighting, reduces the impact of noise on the signal, and thus improves the stability of the signal and the signal-to-noise ratio. Secondly, by weighting the interference signal steering vector, it is possible to effectively suppress interference signals from different directions, further improving the stability in complex environments. Combining the beam outputs of the two linear arrays enhances the directionality and spatial resolution of the beam, and can more accurately identify the direction of the target. On this basis, the energy output is calculated and weighted to further optimize the beam formation and enhance the recognition of the target signal. This can achieve higher azimuth resolution and stability in complex marine environments, thereby improving detection accuracy and reliability.

[0143] Figure 7The flowchart for obtaining the corresponding total energy output provided in the embodiment of the present application may include the following steps:

[0144] Step S711: Obtain a working frequency band range of beamforming.

[0145] Step S713 : For each frequency point within the operating frequency band, if the port energy output is greater than the starboard energy output, the port energy output is accumulated to obtain the corresponding total energy output.

[0146] Step S715 : For each frequency point within the operating frequency band, if the energy output on the port side is less than the energy output on the starboard side, the energy output on the starboard side is accumulated to obtain the corresponding total energy output.

[0147] Specifically, for each frequency point k within the working frequency band, compare the energy output P at the mth beam direction and the kth frequency point when the target is on the port side. m [k] and the energy output S at the mth beam direction and kth frequency point when the target is on the starboard side m [k]: If P m [k]>S m [k], then P m [k] Added to the total energy output BF on the port side p [m]; if S m [k]>P m [k], then S m [k] Added to the total energy output BF on the starboard side s [m].

[0148] Total energy output port side:

[0149]

[0150] Total energy output starboard:

[0151]

[0152] By comparing the energy output on the port and starboard sides, the energy can be selectively accumulated, allowing for a more accurate determination of whether the target is on the port or starboard side. This method can effectively improve directional resolution and reduce misjudgment.

[0153] This embodiment provides a frequency selection basis for beamforming by determining the operating frequency band range, thereby optimizing signal reception and processing, reducing noise interference, and ensuring signal clarity. Next, based on the difference in energy output between the port and starboard sides, the energy output of the stronger side is selectively accumulated. When the port side energy output is greater than the starboard side, the port side energy is accumulated; conversely, when the starboard side energy output is stronger, the starboard side energy is accumulated. In this way, the signal strength in the direction of the stronger signal can be enhanced, and interference or noise from the other direction can be suppressed, thereby improving the identifiability and directional resolution of the target signal. This dynamically adjusted energy output method effectively copes with changes in signal strength and environmental interference, ultimately improving detection accuracy and stability.

[0154] Figure 8 A flowchart for determining the port and starboard orientations of a target provided in an embodiment of the present application, wherein the total energy output includes the port total energy output and the starboard total energy output; the flowchart may include the following steps:

[0155] Step S731: Obtain the port and starboard energy ratio coefficient based on the comparison of the port total energy output and the starboard total energy output.

[0156] Step S733: When the port-to-starboard energy ratio coefficient is greater than or equal to the first preset port-to-starboard resolution threshold, it is determined that the target is located at the port side.

[0157] Step S735 : When the starboard and port energy ratio coefficient is less than or equal to the second preset starboard and port resolution threshold, it is determined that the target is located at the starboard direction.

[0158] Specifically, the port-to-starboard energy ratio coefficient represents the ratio of the total energy output on the port side to the total energy output on the starboard side, and is usually expressed in decibels (dB).

[0159]

[0160] Then, the direction of the target is determined based on the comparison between the port and starboard energy ratio coefficient γ and the preset threshold thr. Here, the first preset port and starboard resolution threshold is thr, such as 3dB, and the second preset port and starboard resolution threshold is -thr, such as -3dB.

[0161] If γ≥thr, the target is judged to be located at the port side.

[0162] If γ≥-thr, the target is judged to be on the starboard side.

[0163] If -thr<γ<thr, wait for more batches of processing results to make further judgments, that is:

[0164]

[0165] This embodiment calculates the port and starboard energy ratio coefficient by comparing the total energy output on the port side with the total energy output on the starboard side. This process provides an accurate basis for subsequent azimuth judgment. When the port and starboard energy ratio coefficient is greater than or equal to the first preset threshold, the target is determined to be located on the port side; when the port and starboard energy ratio coefficient is less than or equal to the second preset threshold, the system determines that the target is located on the starboard side. Through this judgment method based on energy ratio, it is possible to flexibly adapt to complex marine environments, effectively avoid signal interference and the influence of weak signals, and ensure the accuracy of azimuth judgment. This not only improves the azimuth resolution, but also enhances the stability and reliability in complex environments, thereby achieving more accurate target positioning and detection results.

[0166] In some optional implementations, this method can also be applied to a process map, directly The data is then sent to the display control module for display processing. This allows the energy distribution of the target to the port and starboard sides in different beam directions to be intuitively displayed on the course diagram, providing operators with intuitive visual information and helping them quickly understand the target's azimuth changes.

[0167] Accordingly, please refer to Figure 9 This is a block diagram of a passive dual-line array port and starboard target determination device provided in an embodiment of the present application. The device includes:

[0168] A data point number determination unit 101 is configured to determine the target number of data points required for beamforming based on the acquired array length of the passive dual-linear array;

[0169] A beam output determination unit 103 is configured to perform frequency domain beamforming operations on the two linear arrays in the passive dual-linear array based on the number of target data points, and determine the beam output in each beam direction;

[0170] An energy output determination unit 105 is configured to determine energy outputs corresponding to different target positions based on the beam output; wherein the energy outputs include a port energy output corresponding to a target position on the port side and a starboard energy output corresponding to a target position on the starboard side;

[0171] The target direction determination unit 107 is used 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 directions of the target according to the total energy output.

[0172] In some optional implementations, the data point number determination unit 101 includes:

[0173] According to the acquired array length of the passive dual-linear array, the number of initial data points required for beamforming is determined by the acoustic propagation speed and sampling frequency;

[0174] The number of single array data points transmitted each time is used to fine-tune the initial number of data points to obtain the target number of data points required for beamforming.

[0175] In some optional implementations, the beam output determination unit 103 includes:

[0176] Performing time-frequency transformation on the time domain signals received by each array element of the two linear arrays in the passive dual-linear array to obtain the corresponding frequency domain signals;

[0177] Determine the beam direction corresponding to each beam output according to a predefined number of beamforming;

[0178] Determine the spectrum line index according to the operating frequency band range of the beamforming;

[0179] For any linear array in the passive dual-linear array, the beam output of each frequency point in the spectrum line index in each beam direction is determined based on the frequency domain signal and beam direction.

[0180] In some optional implementations, determining the spectral line index according to the operating frequency band range of the beamforming includes:

[0181] Obtaining a beamforming operating frequency band range; wherein the operating frequency band range includes a minimum operating frequency and a maximum operating frequency;

[0182] The minimum frequency point index corresponding to the lowest operating frequency is determined by rounding the product of the target data point number and the lowest operating frequency divided by the sampling frequency;

[0183] The maximum frequency point index corresponding to the highest operating frequency is determined by rounding the product of the target number of data points and the highest operating frequency divided by the sampling frequency;

[0184] Determine the spectral line index based on the minimum frequency index and the maximum frequency index.

[0185] In some optional implementations, the energy output determination unit 105 includes:

[0186] Construct a noise covariance matrix based on the number of target data points and the distance between the two linear arrays in the passive dual-linear array;

[0187] Determine the interference signal steering vector corresponding to the target at different positions, and obtain the corresponding beamforming weighting coefficient based on the weighting of the interference signal steering vector and the noise covariance matrix;

[0188] In the beam direction, the beam outputs corresponding to the two linear arrays in the passive dual-linear array are combined into a combined vector;

[0189] The corresponding energy output is obtained by multiplying the beamforming weight coefficient and the conjugate transpose of the combination vector.

[0190] In some optional implementations, the target orientation determination unit 107 includes:

[0191] Obtain the operating frequency band range of beamforming;

[0192] For each frequency point within the operating frequency band, if the port energy output is greater than the starboard energy output, the port energy output is accumulated to obtain the corresponding total energy output;

[0193] For each frequency point within the operating frequency band, if the energy output on the port side is less than the energy output on the starboard side, the energy output on the starboard side is accumulated to obtain the corresponding total energy output.

[0194] In some optional implementations, the target orientation determination unit 107 includes:

[0195] According to the comparison of the total energy output on the port side and the total energy output on the starboard side, the energy ratio coefficient of the port side and the starboard side is obtained;

[0196] When the port and starboard energy ratio coefficient is greater than or equal to a first preset port and starboard resolution threshold, determining that the target is located at the port side;

[0197] When the starboard and port energy ratio coefficient is less than or equal to a second preset starboard and port resolution threshold, it is determined that the target is located at the starboard direction.

[0198] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0199] In this embodiment, a passive dual-line array port and starboard target judgment device is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0200] See also Figure 10 , Figure 10 A schematic diagram of the structure of a computer device provided in an embodiment of the present application is shown in FIG. Figure 10As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in the memory or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 10 A processor 10 is taken as an example.

[0201] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0202] The memory 20 stores instructions that can be executed by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0203] The memory 20 may include a program storage area and a data storage area, wherein 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 based on the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0204] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0205] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0206] The embodiments of the present application also provide a computer-readable storage medium. The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary 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 can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned 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. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0207] The devices and units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0208] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0209] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods or apparatuses. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0210] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices, and apparatus 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, as well as 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 a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0211] These computer program instructions may 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, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0212] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0213] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0214] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences from other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0215] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

[0216] Although the embodiments of the present application have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A passive dual-line array starboard and port target judgment method, characterized in that: The method comprises: Determine the number of target data points required for beamforming based on the acquired array length of the passive dual-linear array; Based on the target data point number, frequency domain beamforming operations are performed on two linear arrays in the passive dual-linear array to determine beam outputs in each beam direction. Specifically, the operations include: performing time-frequency transformation on time domain signals received by each array element of the two linear arrays in the passive dual-linear array to obtain corresponding frequency domain signals; determining the beam direction corresponding to each beam output according to a predefined beamforming quantity; determining a spectral line index according to an operating frequency band range of the beamforming; and determining, for any linear array in the passive dual-linear array, the beam output of each frequency point in the spectral line index in each beam direction based on the frequency domain signal and the beam direction. Based on the beam output, energy output corresponding to the target at different positions is determined; wherein the energy output includes a port energy output corresponding to the target at the port position and a starboard energy output corresponding to the target at the starboard position; specifically, based on the number of target data points and the distance between two linear arrays in the passive dual-linear array, a noise covariance matrix is ​​constructed; interference signal steering vectors corresponding to the target at different positions are determined, and corresponding beamforming weighting coefficients are obtained based on the weighting of the interference signal steering vector and the noise covariance matrix; in the beam direction, the beam outputs corresponding to the two linear arrays in the passive dual-linear array are combined into a combination vector; and the corresponding energy output is obtained by multiplying the beamforming weighting coefficient by the conjugate transpose of the combination vector. The port energy output and the starboard energy output are selectively accumulated to obtain a corresponding total energy output, and the port and starboard directions of the target are determined based on the total energy output. Specifically, the steps include: obtaining an operating frequency band range of beamforming; for each frequency point within the operating frequency band, if the port energy output is greater than the starboard energy output, accumulating the port energy output to obtain the corresponding total energy output; and for each frequency point within the operating frequency band, if the port energy output is less than the starboard energy output, accumulating the starboard energy output to obtain the corresponding total energy output.

2. The method according to claim 1, characterized in that The step of determining the number of target data points required for beamforming based on the acquired array length of the passive dual-linear array includes: According to the acquired array length of the passive dual-linear array, the number of initial data points required for beamforming is determined by the acoustic propagation speed and sampling frequency; The initial number of data points is fine-tuned using the number of single array data points transmitted each time to obtain the target number of data points required for beamforming.

3. The method according to claim 1, characterized in that The determining of the spectral line index according to the operating frequency band range of the beamforming includes: Acquire a beamforming operating frequency band range; wherein the operating frequency band range includes a minimum operating frequency and a maximum operating frequency; Determine the minimum frequency point index corresponding to the lowest operating frequency by rounding the result of multiplying the target number of data points and the lowest operating frequency by the sampling frequency; Determine the maximum frequency point index corresponding to the highest operating frequency by rounding the result of multiplying the target number of data points and the highest operating frequency by the sampling frequency; The spectral line index is determined according to the minimum frequency point index and the maximum frequency point index.

4. The method according to claim 1, wherein The total energy output includes a port total energy output and a starboard total energy output; and determining the port and starboard directions of the target based on the total energy output includes: Obtaining a port-to-starboard energy ratio coefficient based on a comparison of the port total energy output and the starboard total energy output; When the port and starboard energy ratio coefficient is greater than or equal to a first preset port and starboard resolution threshold, determining that the target is located at the port side; When the starboard and port energy ratio coefficient is less than or equal to a second preset starboard and port resolution threshold, it is determined that the target is located at the starboard direction.

5. A device for implementing the passive dual-line array starboard and port target determination method according to any one of claims 1 to 4, characterized in that: The device comprises: a data point number determination unit, configured to determine the target number of data points required for beamforming based on the acquired array length of the passive dual-linear array; a beam output determination unit, configured to perform frequency domain beamforming operations on two linear arrays in the passive dual-linear array based on the target data point number, and determine beam outputs in respective beam directions; an energy output determining unit, configured to determine, based on the beam output, energy outputs corresponding to when the target is located at different positions; wherein the energy outputs include a port energy output corresponding to when the target is located at a port position and a starboard energy output corresponding to when the target is located at a starboard position; The target direction judgment unit is used to selectively accumulate the port energy output and the starboard energy output to obtain a corresponding total energy output, and judge the port and starboard directions of the target according to the total energy output.

6. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the passive dual-line array starboard and port target judgment method according to any one of claims 1 to 4 by executing the computer instructions.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the passive dual-line array port and starboard target judgment method according to any one of claims 1 to 4.

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