Transmission frequency determination method, control device, electronic equipment and storage medium

Abstract

The invention provides an emission frequency determination method, a control device, electronic equipment and a storage medium, and the method comprises the steps: obtaining sound velocity distribution data, emission model parameters and a ray model; determining detection peak data according to the sound velocity distribution data, the emission model parameters and the ray model; and determining the target emission frequency according to the detection peak value data. Through the method for determining the transmitting frequency provided by the invention, the torpedo homing detection performance and the environmental adaptability are improved, the simulation verification effect is good, and the method has very high practical value and application prospect.

Description

Technical Field

[0001] The present invention belongs to the technical field of torpedo homing engineering, and particularly relates to a method for determining a transmission frequency, a control device, an electronic device, and a storage medium. Background Art

[0002] In the related art, the torpedo homing generally uses a fixed center frequency of the transmission signal, which may cause a large change in the homing detection performance in different hydrological environments, and in severe cases, the target detection may be lost.

[0003] Therefore, how to obtain the center frequency of the transmission signal that matches the current underwater acoustic channel and improve the torpedo homing detection performance and environmental adaptability is a technical problem that needs to be solved urgently. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining a transmission frequency, including: obtaining sound speed distribution data, transmission model parameters, and a ray model; determining detection peak data according to the sound speed distribution data, the transmission model parameters, and the ray model; and determining a target transmission frequency according to the detection peak data.

[0006] In a second aspect, an embodiment of the present invention provides a device for determining a transmission frequency, including: an obtaining module, configured to obtain sound speed distribution data, transmission model parameters, and a ray model; a first determination module, configured to determine detection peak data according to the sound speed distribution data, the transmission model parameters, and the ray model; and a second determination module, configured to determine a target transmission frequency according to the detection peak data.

[0007] In a third aspect, an embodiment of the present invention provides an electronic device, including: a processor and a memory, where the memory stores a program or instruction that can run on the processor, and when the program or instruction is executed by the processor, the steps of the method for determining a transmission frequency according to any one of the above embodiments are implemented.

[0008] In a fourth aspect, an embodiment of the present invention provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method for determining a transmission frequency according to any one of the above embodiments are implemented.

[0009] The beneficial effects brought by the present invention are as follows:

[0010] It can be seen from the above solution that the method for determining a transmission frequency provided by the present invention obtains a transmission frequency that matches the current hydrological environment, realizes the effect of avoiding target detection loss, improves the torpedo homing detection performance and environmental adaptability, and has a good simulation verification effect, with high practical value and application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 FIG. 1 is one of the schematic flowcharts showing a method for determining a transmission frequency according to an embodiment of the present invention;

[0012] Figure 2 FIG. 2 is another schematic flowchart showing a method for determining a transmission frequency according to an embodiment of the present invention;

[0013] Figure 3 FIG. 3 is still another schematic flowchart showing a method for determining a transmission frequency according to an embodiment of the present invention;

[0014] Figure 4 FIG. 4 is a schematic block diagram showing the structure of a device for determining a transmission frequency according to an embodiment of the present invention;

[0015] Figure 5 FIG. 5 is a schematic block diagram showing the structure of an electronic device according to an embodiment of the present invention;

[0016] Figure 6 FIG. 6 is still another schematic flowchart showing a method for determining a transmission frequency according to an embodiment of the present invention;

[0017] Figure 7 FIG. 7 is a graph showing the variation of the sound velocity with depth according to an embodiment of the present invention;

[0018] Figure 8 FIG. 8 is a graph showing the variation of time and amplitude according to an embodiment of the present invention;

[0019] Figure 9 FIG. 9 is a graph showing the variation of time delay and amplitude according to an embodiment of the present invention;

[0020] Figure 10 FIG. 10 is a graph showing the relationship between the center frequency and the detected amplitude according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] As Figure 1 shown, according to an embodiment of the first aspect of the present invention, there is provided a method for determining a transmission frequency, including:

[0023] Step 102: Obtain sound velocity distribution data, transmission model parameters, and a ray model;

[0024] Step 104: Determine the detection peak data according to the sound speed distribution data, the emission model parameters, and the ray model.

[0025] Step 106: Determine the target emission frequency according to the detection peak data.

[0026] In this embodiment, the method for determining the emission frequency includes obtaining the sound speed distribution data, the emission model parameters, and the ray model; then determining the detection peak data according to the sound speed distribution data, the emission model parameters, and the ray model; and finally determining the target emission frequency according to the detection peak data.

[0027] Specifically, first obtain the sound speed distribution data, that is, the sound speed values at different depths in the underwater acoustic channel. These data are usually obtained through actual measurements, and devices such as a sound speed profiler can be used to measure the sound speed at different depths. The obtained data form is the correspondence between the depth and the corresponding sound speed value, that is, for each depth value, we have a corresponding sound speed value.

[0028] At the same time, obtain the emission model parameters and the ray model. The ray model is the Bellhop (full name: Boundary Element Linearized Longitudinal and Horizontal Propagation) ray model, which is a tool for predicting underwater acoustic propagation characteristics. The emission model parameters are the set model parameters, and this parameter will directly affect the characteristics of acoustic propagation, so it needs to be reasonably set according to the actual situation.

[0029] Based on the sound speed distribution data, the emission model parameters, and the ray model, that is, the Bellhop ray model, the time delay τ and amplitude A of each eigen-ray can be calculated. Take the first N eigen-rays with the largest amplitude to calculate the channel impulse response function h(t) to reflect the main characteristics of the channel. Among them, there are many eigen-rays from the sound source to the receiving point, and the time delay and amplitude of each eigen-ray need to be calculated.

[0030] By calculating the channel impulse response function h(t), the echo signal is further obtained, thereby determining the detection peak data. According to the detection peak data, determine the corresponding emission signal frequency, which is the target emission frequency matching the current hydrological environment. This emission signal frequency is used in the torpedo homing system, which can improve the torpedo homing detection performance and environmental adaptability, and the simulation verification effect is good, with high practical value and application prospects.

[0031] In the design of a torpedo homing system, the selection of the center frequency of the transmitted signal is a crucial step. The selection of the center frequency is directly related not only to the propagation characteristics of the signal in the underwater acoustic channel but also determines the detection range of the torpedo homing system. Generally speaking, low-frequency signals have less attenuation in water and can propagate over a longer distance. However, due to the relatively high flow noise and vibration noise caused by the high-speed movement of the torpedo in the low-frequency band. Therefore, the transmitted signal frequency of the torpedo homing system is not the lower the better.

[0032] The underwater acoustic channel is time-varying, and its channel characteristics can change significantly with factors such as time, geographical location, and season. Affected by multipath effects, Doppler frequency shift, acoustic propagation loss, etc., the underwater acoustic channel also has frequency-selective characteristics. Currently, the torpedo homing generally uses a fixed center frequency of the transmitted signal, which is determined according to the homing detection performance requirements and the basic performance of the acoustic array. This will result in significant changes in the homing detection performance in different hydrological environments, and in severe cases, the target detection will be lost. In order to improve the environmental adaptability of the torpedo homing system, the method of the present invention can calculate the center frequency of the transmitted signal that matches the current underwater acoustic channel, thereby improving the homing detection performance and environmental adaptability of the torpedo, and the simulation verification effect is good, with high practical value and application prospects.

[0033] According to the above method for determining the transmission frequency provided by the present invention, the following additional technical features may also be included:

[0034] In the above embodiment, further, the transmission model parameters include transmission frequency data, and the number of transmission frequency data is multiple, and there is a preset frequency interval between every two adjacent transmission frequency data.

[0035] In this embodiment, assuming that the initial transmission frequency data f0 is 26 kHz (KiloHertz), change the transmitted signal frequency near the initial transmission frequency data f0 to obtain the range of the changed transmitted signal frequency, that is, from 25 kHz to 27 kHz. According to the preset frequency interval, such as 10 Hz (Hertz), obtain multiple transmission frequency data. That is, if the initial transmission frequency data f0 takes the value of 26 kHz, determine that multiple transmitted signal frequencies are concentrated in the range of 25 kHz to 27 kHz, increasing by 10 Hz each time, and obtain multiple transmitted signal frequencies of 25 kHz, 25.01 kHz, 25.02 kHz until 26.99 kHz, 27 kHz for subsequent calculations.

[0036] The transmission model parameters include transmission frequency data, and the transmission frequency data is also called the center frequency of the transmitted signal. The transmission frequency data is multiple. First, determine the initial transmission frequency data, and obtain other multiple subsequent transmission frequency data according to the preset frequency interval.

[0037] Further, according to the sound speed distribution data, emission model parameters, and ray model, determine the detection peak data, including: determining multiple detection peak data according to the sound speed distribution data, multiple emission frequency data, and ray model, where the emission frequency data corresponds one-to-one with the detection peak data.

[0038] In this embodiment, multiple detection peak data are determined according to the sound speed distribution data, multiple emission frequency data, and ray model. That is, different multiple emission frequency data are used, combined with the sound speed distribution data, multiple emission frequency data, and ray model, to obtain different multiple detection peak data. Among them, the emission frequency data corresponds one-to-one with the detection peak data.

[0039] For example, assume that the set of frequency values of the emission frequency data is {f0, f1, f2, ……, f m}, and then for each emission frequency data, combined with the sound speed distribution data, multiple emission frequency data, and ray model, obtain the corresponding set of relevant detection peak data at the corresponding frequency {P0, P1, P2, P3 …… P m}. By finding the maximum value of the detection peak data, the corresponding emission frequency data is the target emission frequency matching the current hydrological environment. The central frequency of the emission signal matching the current underwater acoustic channel is obtained, thereby improving the torpedo's homing detection performance and environmental adaptability, and the simulation verification effect is good, with high practical value and application prospects.

[0040] As Figure 2 shown, according to the detection peak data, determine the target emission frequency, specifically including:

[0041] Step 202: Obtain multiple detection peak data;

[0042] Step 204: Compare the magnitudes of the multiple detection peak data to determine the target detection peak data;

[0043] Step 206: Determine the target emission frequency according to the target detection peak data.

[0044] In this embodiment, different multiple emission frequency data are used, combined with the sound speed distribution data, multiple emission frequency data, and ray model, to obtain different multiple detection peak data, and then the magnitudes of the multiple detection peak data are compared to obtain the detection peak data with the largest value as the target detection peak data. The emission frequency data corresponding to the target detection peak data is the target emission frequency matching the current hydrological environment. Therefore, the central frequency of the emission signal matching the current underwater acoustic channel is obtained, thereby improving the torpedo's homing detection performance and environmental adaptability, and the simulation verification effect is good, with high practical value and application prospects.

[0045] AsFigure 3 As shown in the above embodiments, further, according to the sound velocity distribution data, the emission model parameters, and the ray model, to determine the detection peak data, it further includes:

[0046] Step 302: Obtain the emission signal data;

[0047] Step 304: Determine the echo signal data according to the emission signal data;

[0048] Step 306: Determine the detection peak data according to the emission signal data and the echo signal data.

[0049] In this embodiment, first, an emission signal data is set, and then the echo signal data is determined according to the emission signal data; through the emission signal data and the echo signal data, the detection peak data is obtained. The detection peak data reflects the degree of correlation between the emission signal data and the echo signal data, and is the maximum value of the correlation measure generated by the emission signal data and the echo signal data during the matched filtering process. By determining the detection peak data, the precise detection of underwater targets is realized, and the self-guidance detection performance and environmental adaptability of the torpedo are improved.

[0050] In the above embodiments, further, according to the emission signal data and the echo signal data, to determine the detection peak data, specifically includes: using the matched filtering method, according to the emission signal data and the echo signal data, to determine the detection peak data.

[0051] In this embodiment, the matched filtering method is an optimal linear filtering technique for determining the detection peak data. By transmitting the set emission signal data through the emission device into the underwater acoustic channel, and using the receiving device to receive the echo signal data, find the maximum value in the output time series of the matched filter, and this value is the detection peak data, realizing the precise detection of underwater targets and improving the self-guidance detection performance and environmental adaptability of the torpedo.

[0052] In the above embodiments, further, the emission model parameters further include: the working depth data, the target depth data, and the emission angle data.

[0053] In this embodiment, the working depth data is specifically the torpedo working depth data, which determines the operating position of the torpedo underwater and helps to improve the simulation results of the emission model.

[0054] The target depth data is used in the ray model to calculate the propagation path and distribution of sound waves according to the target depth data. And the emission angle data determines the diffusion range when the sound wave is emitted. The smaller the emission angle data, the more concentrated the sound wave. The emission angle data affects the coverage range and resolution of underwater sound waves.

[0055] Such as Figure 6As shown in a specific embodiment of the present invention, a method for selecting the center frequency of a transmitted signal based on the characteristics of an underwater acoustic channel is proposed, including:

[0056] Step 602: Read the actually measured sound speed distribution data.

[0057] Obtain the sound speed value V(i) at different depths according to the actual measurement results, where i is the depth and V(i) is the sound speed value corresponding to this depth.

[0058] Taking the actual measured hydrology as an example, its sound speed distribution result is as Figure 7 shown.

[0059] Step 604: Set the initial transmitted signal frequency.

[0060] Step 606: Set the Bellhop ray model parameters (i.e., the transmission model parameters).

[0061] Set parameters such as the torpedo operating depth, target depth, and transmission angle θ.

[0062] For example, set the center frequency of the transmitted signal to 26 kHz, the torpedo operating depth to 60 meters, the target depth to 60 meters, and the value range of the transmission angle to ±10 degrees.

[0063] Step 608: Calculate the channel impulse response function based on the Bellhop ray model.

[0064] According to the sound speed distribution data in Step 602 and the model parameters set in Step 604, use the Bellhop ray model to calculate the channel impulse response function h(t). Using the Bellhop ray model, the delay τ and amplitude A of each eigenray can be calculated, and the channel impulse response function h(t) is calculated by taking the first N eigenrays with the largest amplitude.

[0065] The formula is as follows:

[0066]

[0067] Among them, h(t) is the value of the channel impulse response function, τ i is the delay value of the i-th eigenray, A i is the amplitude value of the i-th eigenray, N is the number value of the eigenrays, and δ(t - τ i ) is the value of the unit impulse function.

[0068] The calculation result of the impulse response function is as Figure 8 shown.

[0069] Step 610: Calculate the target echo (i.e., the echo signal data) under this channel.

[0070] Set a transmitted signal as S(t), and then calculate the target echo after the signal propagates through the given channel.

[0071] For example, assume the transmitted signal is an LFM signal (Linear Frequency Modulation) with a center frequency of 26 kHz, a pulse width of 100 ms (milliseconds), and a bandwidth of 800 Hz. Then the target echo is the convolution of the transmitted signal and the channel impulse response function, and the formula is as follows:

[0072] y(t) = S(t) × h(t);

[0073] Where y(t) is the target echo value, S(t) is the transmitted signal value, and h(t) is the channel impulse response function value. This convolution process simulates the propagation and reflection of the signal in the channel, and the obtained target echo will be used for subsequent correlation detection.

[0074] Step 612: Calculate the correlation detection peak (i.e., the detection peak data) of the transmitted signal and the echo signal. Using the matched filtering method, calculate the correlation detection peak P0 of the transmitted signal and the echo signal, and the calculation result is as Figure 9 shown. Among them, the matched filtering method is an optimal detection method that can effectively detect signals in the noise background.

[0075] Step 614: Whether the calculation is completed. If the calculation is completed, execute Step 618. Otherwise, execute Step 616.

[0076] Step 616: Repeat Steps 604 to 612 to calculate the correlation detection peaks of other frequencies.

[0077] To find the center frequency of the transmitted signal that matches the current hydrological environment, it is necessary to change the transmitted signal frequency near the initial transmitted signal center frequency f0, and repeat the calculation process of Steps 604 to 612. Specifically, a set of frequency values {f0, f1, f2, ……, f m} can be set, and then for each frequency value, repeat Steps 604 to 612 to calculate the set of correlation detection peaks {P0, P1, P2, P3 …… P m} corresponding to the respective frequencies.

[0078] Specifically, assume the initial transmitted signal center frequency f0 is 26 kHz, change the transmitted signal frequencies from 25 kHz to 27 kHz respectively, with a preset frequency interval of 10 Hz, and repeat Steps 606 to 612. Calculate the correlation detection peaks at different frequencies, as Figure 10 shown, which shows the correlation detection results at different transmitted signal frequencies.

[0079] Step 618: Select the transmission signal frequency with the largest detected peak (i.e., the detected peak data) according to the principle of maximizing the detected SNR (Signal to Noise Ratio).

[0080] SNR represents the ratio of the signal power to the noise power and is one of the important indicators for measuring signal quality. In the design and optimization process of a communication system, the signal quality is improved by maximizing the SNR.

[0081] Compare all the relevant detected peaks {P0, P1, P2, P3... P m} obtained in Step 616, find the maximum value among them, and the corresponding transmission signal frequency is the target transmission frequency matching the current hydrological environment.

[0082] According to Figure 10 , it can be seen that when the frequency is 25.850 kHz, the detected peak is the largest. Therefore, this frequency is the transmission frequency matching the current hydrological environment, and compared with the initial transmission frequency, the detection performance is improved by approximately 20×log10(890.3531 / 670.4051) = 2.46 dB (Decibel).

[0083] As Figure 4 shown, according to an embodiment of the second aspect of the present invention, a device 400 for determining a transmission frequency is provided, including an acquisition module 410 for acquiring sound speed distribution data, transmission model parameters, and a ray model; a first determination module 420 for determining detected peak data according to the sound speed distribution data, transmission model parameters, and the ray model; and a second determination module 430 for determining a target transmission frequency according to the detected peak data.

[0084] In this embodiment, the device 400 for determining a transmission frequency includes an acquisition module 410, a first determination module 420, and a second determination module 430. Among them, the acquisition module 410 is used to acquire sound speed distribution data, transmission model parameters, and a ray model, the first determination module 420 is used to determine detected peak data according to the sound speed distribution data, transmission model parameters, and the ray model; and the second determination module 430 is used to determine a target transmission frequency according to the detected peak data.

[0085] First, obtain the sound speed distribution data, emission model parameters, and ray model. The ray model is the Bellhop ray model, which calculates the time delay τ and amplitude A of each eigenray. Select the first N rays with the largest amplitude to calculate the channel impulse response function h(t) to reflect the main characteristics of the channel. By calculating the channel impulse response function h(t), the echo signal is further obtained, and then the detection peak data is determined. According to the detection peak data, the corresponding transmission signal frequency is determined, which is the target transmission frequency matching the current hydrological environment. This transmission signal frequency is used in the torpedo homing system, which can improve the torpedo homing detection performance and environmental adaptability, and the simulation verification effect is good, with high practical value and application prospects.

[0086] As Figure 5 shown, according to an embodiment of the third aspect of the present invention, an electronic device 500 is provided, including: a processor 510 and a memory 520. The memory 520 stores a program or instruction that can run on the processor 510. When the program or instruction is executed by the processor 510, the steps of the method for determining the transmission frequency in any one of the above embodiments are implemented.

[0087] An electronic device 500 provided by the present invention includes: a processor 510 and a memory 520. The memory 520 stores a program or instruction that can run on the processor 510. When the program or instruction is executed by the processor 510, the steps of the method for determining the transmission frequency in any one of the above embodiments are implemented. Therefore, this electronic device 500 has all the beneficial effects of the method for determining the transmission frequency in any one of the above embodiments.

[0088] According to an embodiment of the fourth aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method for determining the transmission frequency in any one of the above embodiments are implemented.

[0089] A readable storage medium provided by the present invention stores a program or instruction. When the program or instruction is executed by a processor, the steps of the method for determining the transmission frequency in any one of the above embodiments are implemented. Therefore, this readable storage medium has all the beneficial effects of the method for determining the transmission frequency in any one of the above embodiments.

[0090] Although this specification contains many specific implementation details, these should not be construed as limiting the scope of any invention or the scope of what is claimed, but rather as mainly describing the features of specific embodiments of a particular invention. Certain features that are described in multiple embodiments in this specification may also be implemented in combination in a single embodiment. On the other hand, the various features described in a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. Additionally, although features may act in certain combinations as described above and even be claimed as such initially, one or more features from a claimed combination may in some cases be removed from that combination, and the claimed combination may be directed to a sub-combination or a variation of a sub-combination.

[0091] Similarly, although operations are depicted in the drawings in a particular order, this should not be construed as requiring that those operations be performed in the particular order shown or sequentially, or that all of the illustrated operations be performed, to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Additionally, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0092] Accordingly, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the acts recited in the claims may be performed in a different order and still achieve the desired result. Additionally, the processes depicted in the drawings are not necessarily in the particular order or sequential order shown to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0093] It should be noted that, in this context, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0094] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

[0095] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for determining a transmission frequency, characterized in that, Including: Obtaining sound speed distribution data, emission model parameters, and a ray model; Determining detection peak data according to the sound speed distribution data, the emission model parameters, and the ray model; Determining a target emission frequency according to the detection peak data.

2. The method for determining the transmission frequency according to claim 1, wherein Further including: The emission model parameters include emission frequency data, and the number of the emission frequency data is multiple. There is a preset frequency interval between every two adjacent emission frequency data.

3. The method for determining the transmission frequency according to claim 2, wherein The determining the detection peak data according to the sound speed distribution data, the emission model parameters, and the ray model includes: Determining multiple detection peak data according to the sound speed distribution data, multiple emission frequency data, and the ray model, where the emission frequency data and the detection peak data are in one-to-one correspondence.

4. The method for determining the transmission frequency according to claim 3, wherein The determining the target emission frequency according to the detection peak data specifically includes: Obtaining multiple detection peak data; Comparing the magnitudes of multiple detection peak data to determine target detection peak data; Determining the target emission frequency according to the target detection peak data.

5. The method for determining the transmission frequency according to claim 1, characterized in that, The determining the detection peak data according to the sound speed distribution data, the emission model parameters, and the ray model further includes: Obtaining emission signal data; Determining echo signal data according to the emission signal data; Determining the detection peak data according to the emission signal data and the echo signal data.

6. The method for determining the transmission frequency according to claim 5, characterized in that, The determining the detection peak data according to the emission signal data and the echo signal data specifically includes: Using a matched filtering method to determine the detection peak data according to the emission signal data and the echo signal data.

7. The method for determining an emission frequency according to any one of claims 1 to 6, characterized in that The emission model parameters further include: working depth data, target depth data, and emission angle data.

8. A device for determining a transmission frequency, characterized in that, Including: An obtaining module, configured to obtain sound speed distribution data, emission model parameters, and a ray model; A first determining module, configured to determine detection peak data according to the sound speed distribution data, the emission model parameters, and the ray model; A second determining module, configured to determine a target emission frequency according to the detection peak data.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, the steps of the method for determining an emission frequency according to any one of claims 1 to 7 are implemented.

10. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instruction is executed by the processor, the steps of the method for determining an emission frequency according to any one of claims 1 to 7 are implemented.

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