Deployment and beamforming method, device and equipment of underwater acoustic intelligent surface and medium

Abstract

The invention relates to the technical field of underwater acoustic communication, in particular to an underwater acoustic intelligent surface deployment and beam forming method and device, equipment and a medium, and the method comprises the steps: recognizing a motion region of underwater acoustic communication equipment and a sound velocity profile of a target deployment water area; determining a target deployment number of the underwater acoustic intelligent surface according to the motion area and the sound velocity profile, and determining a target deployment position of the underwater acoustic intelligent surface according to the motion area, the sound velocity profile and the target deployment number; and according to the actual position of the underwater acoustic communication equipment and the target deployment position of the underwater acoustic intelligent surface, determining a beam forming direction which needs to be realized by each deployed underwater acoustic intelligent surface, and according to the beam forming direction and hardware of the underwater acoustic intelligent surface, determining a beam forming coefficient of the underwater acoustic intelligent surface. Therefore, the problem of how to improve the underwater acoustic communication transmission rate performance and the like is solved.

Description

Technical Field

[0001] This application relates to the field of underwater acoustic communication technologies, and particularly to a method, apparatus, device, and medium for deploying an underwater acoustic intelligent surface and beamforming. Background Art

[0002] Underwater acoustic communication is almost the only feasible technical means for supporting information transmission at the kilometer level underwater at present. However, due to the relatively high propagation loss, the transmission rate of underwater acoustic communication is severely limited over medium and long distances.

[0003] To improve the transmission rate of underwater acoustic communication, the underwater acoustic intelligent surface has been proposed. The underwater acoustic intelligent surface consists of multiple piezoelectric reflectors, which can regulate the amplitude and phase of the received sound wave, so as to amplify and beamform the transmission signal of the underwater acoustic communication transmitting device. The beamforming gain achieved by the underwater acoustic intelligent surface can effectively overcome the severe propagation loss of underwater acoustic communication, thereby greatly improving the transmission rate of underwater acoustic communication.

[0004] However, in the related technologies, the focus is mainly on the principle and hardware design of the underwater acoustic intelligent surface. How to deploy the underwater acoustic intelligent surface in a real underwater environment to better enhance the underwater acoustic communication performance of underwater acoustic communication devices, especially mobile underwater acoustic communication devices such as unmanned underwater vehicles and submarines, has not been effectively studied. Summary of the Invention

[0005] This application provides a method, apparatus, device, and storage medium for deploying an underwater acoustic intelligent surface and beamforming to solve problems such as how to improve the transmission rate performance of underwater acoustic communication.

[0006] In the first aspect of the embodiments of this application, a method for deploying an underwater acoustic intelligent surface and beamforming is provided, including the following steps: identifying the movement area of the underwater acoustic communication device and the sound speed profile of the target deployment water area; determining the target deployment quantity of the underwater acoustic intelligent surface according to the movement area and the sound speed profile, and determining the target deployment position of the underwater acoustic intelligent surface according to the movement area, the sound speed profile, and the target deployment quantity; determining the beamforming direction required for each deployed underwater acoustic intelligent surface according to the actual position of the underwater acoustic communication device and the target deployment position of the underwater acoustic intelligent surface, and determining the beamforming coefficient of the underwater acoustic intelligent surface according to the beamforming direction and the hardware of the underwater acoustic intelligent surface.

[0007] Optionally, determining the target deployment quantity of the underwater acoustic intelligent surface according to the movement area and the sound speed profile includes: determining the type of underwater acoustic characteristics in the movement area according to the sound speed profile; determining the target deployment quantity of the underwater acoustic intelligent surface according to the type of underwater acoustic characteristics.

[0008] Optionally, the movement area of the underwater acoustic communication device includes a transmission area where the transmitting device is located and a receiving area where the receiving device is located. The underwater acoustic feature types include the first to fourth types, which are determined according to the satisfaction of target conditions. The target conditions include the first to third conditions. The first condition is that for the underwater acoustic signals transmitted at any position within the transmission area, after being reflected by the sea surface or the seabed, they completely cover the receiving area. The second condition is that there is an area within the transmission area where the sound speed is greater than the sound speed of the sea surface. The third condition is that there is an area within the receiving area where the sound speed is greater than the sound speed of the sea surface.

[0009] Optionally, determining the first to fourth types according to the satisfaction of target conditions includes: if the first condition is not satisfied, the underwater acoustic feature type is the first type; if the first condition and the second condition are satisfied and the third condition is not satisfied, the underwater acoustic feature type is the second type; if the first condition and the third condition are satisfied and the second condition is not satisfied, the underwater acoustic feature type is the third type; if the first condition, the second condition, and the third condition are satisfied, the underwater acoustic feature type is the fourth type.

[0010] Optionally, determining the target deployment quantity of the underwater acoustic intelligent surface according to the underwater acoustic feature type includes: if the underwater acoustic feature type is the first type, the target deployment quantity is 0; if the underwater acoustic feature type is the second type, the target deployment quantity is that 1 underwater acoustic intelligent surface needs to be deployed on the transmitting device side; if the underwater acoustic feature type is the third type, the target deployment quantity is that 1 underwater acoustic intelligent surface needs to be deployed on the receiving device side; if the underwater acoustic feature type is the fourth type, the target deployment quantity is that 2 underwater acoustic intelligent surfaces need to be deployed, 1 on the transmitting device side and 1 on the receiving device side.

[0011] Optionally, determining the target deployment position of the underwater acoustic intelligent surface according to the movement area, the sound speed profile, and the target deployment quantity includes: determining the deployment side of the underwater acoustic intelligent surface on the acoustic communication device according to the underwater acoustic feature type; for the underwater acoustic intelligent surface on the deployment side, the depth of the underwater acoustic intelligent surface is the depth where the sound channel axis is located, and the sound channel axis depth refers to the depth where the sound speed is the minimum in the sound speed profile. The position of the underwater acoustic intelligent surface is determined by the horizontal position being the position on the sound channel axis that is closest to the average distance of the transmission area or the receiving area.

[0012] Optionally, according to the actual position of the underwater acoustic communication device and the target deployment positions of the underwater acoustic intelligent surfaces, determine the beamforming directions required for each deployed underwater acoustic intelligent surface, including: identifying the positions of the transmitting device and the receiving device in the actual position of the underwater acoustic communication device; according to the positions of the transmitting device, the receiving device, and the target deployment positions of the underwater acoustic intelligent surfaces, determine the incident angles and the exit angles of the transmitting device and the receiving device respectively; according to the incident angle and the exit angle of the transmitting device, determine the beamforming direction required for the underwater acoustic intelligent surface on the transmitting device side, and according to the incident angle and the exit angle of the receiving device, determine the beamforming direction required for the underwater acoustic intelligent surface on the receiving device side.

[0013] Optionally, according to the beamforming direction and the hardware of the underwater acoustic intelligent surface, determine the beamforming coefficients of the underwater acoustic intelligent surface, including: under the hardware constraints of the underwater acoustic intelligent surface, determine the beamforming vector according to the beamforming direction; calculate the error between the beamforming vector and the reference beamforming vector, and calculate the beamforming coefficients of the underwater acoustic intelligent surface according to the error.

[0014] An embodiment of the second aspect of this application provides a device for deploying and beamforming an underwater acoustic intelligent surface, including: an identification module, configured to identify the movement area of the underwater acoustic communication device and the sound speed profile of the target deployment water area; a first determination module, configured to determine the target deployment quantity of the underwater acoustic intelligent surface according to the movement area and the sound speed profile, and determine the target deployment positions of the underwater acoustic intelligent surfaces according to the movement area, the sound speed profile, and the target deployment quantity; a second determination module, configured to determine the beamforming directions required for each deployed underwater acoustic intelligent surface according to the actual position of the underwater acoustic communication device and the target deployment positions of the underwater acoustic intelligent surfaces, and determine the beamforming coefficients of the underwater acoustic intelligent surface according to the beamforming directions and the hardware of the underwater acoustic intelligent surface.

[0015] An embodiment of the third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the method for deploying and beamforming an underwater acoustic intelligent surface as in the above embodiments.

[0016] An embodiment of the fourth aspect of this application provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to be used to implement the method for deploying and beamforming an underwater acoustic intelligent surface as in the above embodiments.

[0017] Therefore, this application includes the following beneficial effects:

[0018] Given the movement areas of an underwater acoustic communication transmitting device and an underwater acoustic communication receiving device at a certain distance from each other, determine the deployment quantity and deployment positions of the underwater acoustic intelligent surface, and perform beamforming design on the underwater acoustic intelligent surface after determining the deployment situation, so as to utilize the underwater acoustic signal regulation and beamforming capabilities of the underwater acoustic intelligent surface to improve the performance of underwater acoustic communication transmission rate.

[0019] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present application. Brief Description of the Drawings

[0020] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0021] Figure 1 is a flowchart of a method for deploying and beamforming an underwater acoustic intelligent surface according to an embodiment of the present application;

[0022] Figure 2 is a schematic diagram of the coordinate system of the movement area of an underwater acoustic communication transmitting device according to an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of the beamforming angle that needs to be achieved by the underwater acoustic intelligent surface on the transmitting device side according to an embodiment of the present application;

[0024] Figure 4 is a flowchart of a method for deploying and beamforming an underwater acoustic intelligent surface according to an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of the propagation loss when not deploying the underwater acoustic intelligent surface and when deploying the underwater acoustic intelligent surface at other depths and horizontal positions according to an embodiment of the present application;

[0026] Figure 6 is an example diagram of a device for deploying and beamforming an underwater acoustic intelligent surface according to an embodiment of the present application;

[0027] Figure 7 is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Detailed Description of the Embodiments

[0028] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0029] The embodiments of the present application present the relationship between the number of underwater acoustic intelligent surfaces and the movement areas of the transmitting and receiving devices, and determine that the depth of the underwater acoustic intelligent surface should be at the depth where the sound channel axis is located, that is, the depth where the sound speed is the minimum, so as to make the underwater acoustic communication between the transmitting end and the receiving end fully utilize the advantage of less propagation loss of the sound channel axis, thereby improving the transmission rate performance of the underwater acoustic communication. Thus, it is ensured that the underwater acoustic transmission at all possible positions of the transmitting and receiving devices within the transmission area of the underwater acoustic device and within the receiving area of the underwater acoustic device can utilize the low propagation attenuation characteristics of the deep sea sound channel where the sound channel axis is located, thereby improving the transmission rate performance of the underwater acoustic communication.

[0030] Therefore, the embodiments of the present application propose a method for deploying and beamforming underwater acoustic intelligent surfaces. This method can give the deployment quantity, deployment position of the underwater acoustic intelligent surface and the corresponding beamforming coefficient design under different movement areas of the transmitting and receiving devices. The method for deploying and beamforming the underwater acoustic intelligent surface according to the embodiments of the present application will be described below with reference to the accompanying drawings.

[0031] Specifically, Figure 1 is a schematic flowchart of a method for deploying and beamforming an underwater acoustic intelligent surface provided by an embodiment of the present application.

[0032] As Figure 1 shown, the method for deploying and beamforming the underwater acoustic intelligent surface includes the following steps:

[0033] In step S101, identify the movement area of the underwater acoustic communication device and the sound speed profile of the target deployment water area.

[0034] It can be understood that the movement area of the underwater acoustic communication device includes the transmission area where the transmitting device is located and the receiving area where the receiving device is located, and the target deployment water area is the water area where the underwater acoustic intelligent surface needs to be deployed, which can be specifically determined according to the actual situation.

[0035] In step S102, according to the movement area and the sound speed profile, determine the target deployment quantity of the underwater acoustic intelligent surface, and according to the movement area, the sound speed profile and the target deployment quantity, determine the target deployment position of the underwater acoustic intelligent surface.

[0036] It can be understood that the movement area of the underwater acoustic communication device includes the transmission area where the transmitting device is located and the receiving area where the receiving device is located. The embodiments of the present application can determine the number of underwater acoustic intelligent surfaces to be deployed through the movement areas of the underwater acoustic communication transmitting and receiving devices and the sound speed profile of the deployed water area, and determine the deployment position of the underwater acoustic intelligent surface through the movement areas of the underwater acoustic communication device transmitting and receiving devices, the number of underwater acoustic intelligent surfaces, and the sound speed profile.

[0037] In the embodiments of the present application, determining the target deployment quantity of the underwater acoustic intelligent surface according to the movement area and the sound speed profile includes: determining the type of underwater acoustic characteristics in the movement area according to the sound speed profile; and determining the target deployment quantity of the underwater acoustic intelligent surface according to the type of underwater acoustic characteristics.

[0038] It can be understood that the types of underwater acoustic characteristics include the first to fourth types, and the first to fourth types are determined according to the satisfaction of the target conditions. The target conditions include the first to third conditions. The first condition is that for the underwater acoustic signals transmitted at any position within the transmission area, after being reflected by the sea surface or the seabed, they completely cover the reception area. The second condition is that there is an area within the transmission area where the sound speed is greater than the sound speed of the sea surface. The third condition is that there is an area within the reception area where the sound speed is greater than the sound speed of the sea surface.

[0039] Therefore, in the embodiments of the present application, the number of underwater acoustic intelligent surfaces to be deployed is determined according to the movement areas of the underwater acoustic communication transmitting device and the receiving device and the sound speed profile of the deployed water area. First, judge the situations of the following conditions: 1. For any position within the movement area of the transmitting device, there exists a position where the underwater acoustic signal transmitted from this position must be reflected by the sea surface or the seabed to completely cover the reception area; 2. There is an area within the transmission area where the sound speed is greater than the sound speed of the sea surface; 3. There is an area within the reception area where the sound speed is greater than the sound speed of the sea surface.

[0040] Then, determine the deployment quantity of the underwater acoustic intelligent surface according to the establishment situations of the above three conditions, specifically as follows:

[0041] In the embodiments of the present application, determining the first to fourth types according to the satisfaction of the target conditions includes: if the first condition is not satisfied, the type of underwater acoustic characteristics is the first type; if the first condition and the second condition are satisfied and the third condition is not satisfied, the type of underwater acoustic characteristics is the second type; if the first condition and the third condition are satisfied and the second condition is not satisfied, the type of underwater acoustic characteristics is the third type; if the first condition, the second condition, and the third condition are satisfied, the type of underwater acoustic characteristics is the fourth type.

[0042] In the embodiments of the present application, determining the target deployment quantity of the underwater acoustic intelligent surface according to the type of underwater acoustic characteristics includes: if the type of underwater acoustic characteristics is the first type, the target deployment quantity is 0; if the type of underwater acoustic characteristics is the second type, the target deployment quantity is that 1 underwater acoustic intelligent surface needs to be deployed on the side of the transmitting device; if the type of underwater acoustic characteristics is the third type, the target deployment quantity is that 1 underwater acoustic intelligent surface needs to be deployed on the side of the receiving device; if the type of underwater acoustic characteristics is the fourth type, the target deployment quantity is that 2 underwater acoustic intelligent surfaces need to be deployed, 1 on the side of the transmitting device and 1 on the side of the receiving device.

[0043] Specifically, the embodiments of the present application can establish as Figure 2A coordinate system with the horizontal direction as the x-axis, the water depth direction as the y-axis, and the vertical direction as the z-axis is shown. The coordinate set of the movement area of the underwater acoustic communication transmitting device is S1, and the coordinate set of the movement area of the underwater acoustic communication receiving device is S2. The sound speed profile is c(y), which represents the function of the sound speed varying with depth. Then, the following conditions are considered:

[0044] 1. For any position within the movement area of the transmitting device, there exists a position such that the underwater acoustic signal transmitted from this position must be reflected by the sea surface or the seabed to completely cover the receiving area S2; 2. There exists a depth y included in the transmitting area S1 such that y > c(0); 3. There exists a depth y included in the receiving area S2 such that y > c(0).

[0045] If condition 1 does not hold, it means that any transmitting position can cover the entire receiving area through the deep ocean sound channel, and the required number of underwater acoustic intelligent surfaces is 0; if condition 1 holds, condition 2 holds, and condition 3 does not hold, then 1 underwater acoustic intelligent surface needs to be deployed on the transmitting device side so that the underwater acoustic signals at any transmitting device position can be introduced into the deep ocean sound channel through the underwater acoustic intelligent surface; similarly, if condition 1 holds, condition 2 does not hold, and condition 3 holds, then 1 underwater acoustic intelligent surface needs to be deployed on the receiving device side; if conditions 1, 2, and 3 all hold, then 2 underwater acoustic intelligent surfaces need to be deployed, 1 on the transmitting device side and 1 on the receiving device side.

[0046] In the embodiments of the present application, according to the movement area, the sound speed profile, and the target deployment quantity, the target deployment positions of the underwater acoustic intelligent surfaces are determined, including: determining the deployment side of the underwater acoustic intelligent surface on the acoustic communication device according to the type of underwater acoustic characteristics; for the underwater acoustic intelligent surface on the deployment side, the depth of the underwater acoustic intelligent surface is the depth where the sound channel axis is located, and the sound channel axis depth refers to the depth where the sound speed is the minimum in the sound speed profile. The position of the underwater acoustic intelligent surface is determined by the horizontal position that is the closest to the average distance between the sound channel axis and the transmitting area or the receiving area.

[0047] It can be understood that the embodiments of the present application can determine the deployment positions of the underwater acoustic intelligent surfaces through the movement areas of the underwater acoustic communication device transmitting device and the receiving device, the number of underwater acoustic intelligent surfaces, and the sound speed profile. Specifically: the depth of the underwater acoustic intelligent surface is fixed at the depth where the sound channel axis is located, where the sound channel axis depth refers to the depth where the sound speed is the minimum in the sound speed profile; the position of the underwater acoustic intelligent surface is determined by its deployment horizontal position that is the closest to the average distance between the sound channel axis and the transmitting or receiving area.

[0048] Specifically, for the case where an underwater acoustic intelligent surface needs to be deployed on the transmitting device side, let the deployment position of the underwater acoustic intelligent surface on the transmitting device side be (x t ,y t ,z t ), then its deployment depth y tis the depth at which the sound channel axis is located. The sound channel axis depth is the depth at which the sound speed is at its minimum, i.e., y t satisfies

[0049]

[0050] The deployment horizontal position is the position on the sound channel axis that is closest to the average distance of the transmission area, so as to ensure that the propagation loss is relatively small on average for all possible positions of the transmission devices within the transmission area. That is, the horizontal deployment position x of the underwater acoustic intelligent surface t satisfies:

[0051]

[0052] Similarly, for the case where an underwater acoustic intelligent surface needs to be deployed for the receiving device, the same method as that for the transmitting device is used to determine the deployment position. Let the deployment position of the underwater acoustic intelligent surface on the receiving device side be (x r , y r ) satisfies

[0053]

[0054] In step S103, according to the actual positions of the underwater acoustic communication devices and the target deployment positions of the underwater acoustic intelligent surfaces, determine the beamforming directions that each deployed underwater acoustic intelligent surface needs to achieve, and determine the beamforming coefficients of the underwater acoustic intelligent surfaces according to the beamforming directions and the hardware of the underwater acoustic intelligent surfaces.

[0055] It can be understood that in the embodiments of the present application, the beamforming directions that each deployed underwater acoustic intelligent surface needs to achieve can be determined through the specific positions of the transmitting device and the receiving device and the deployment positions of the underwater acoustic intelligent surfaces. By the determined beamforming directions and the hardware of the underwater acoustic intelligent surfaces, the beamforming coefficients of the underwater acoustic intelligent surfaces are restricted.

[0056] In the embodiments of the present application, according to the actual positions of the underwater acoustic communication devices and the target deployment positions of the underwater acoustic intelligent surfaces, determining the beamforming directions that each deployed underwater acoustic intelligent surface needs to achieve includes: identifying the positions of the transmitting device and the receiving device in the actual positions of the underwater acoustic communication devices; determining the respective incident angles and exit angles of the transmitting device and the receiving device according to the positions of the transmitting device, the receiving device, and the target deployment positions of the underwater acoustic intelligent surfaces; determining the beamforming directions that the underwater acoustic intelligent surface on the transmitting device side needs to achieve according to the incident angle and the exit angle of the transmitting device, and determining the beamforming directions that the underwater acoustic intelligent surface on the receiving device side needs to achieve according to the incident angle and the exit angle of the receiving device.

[0057] It is understandable that the beamforming direction of the underwater acoustic intelligent surface on the transmitting device side is determined by the incident angle and the exit angle. Among them, the incident angle is determined by the angle between the line connecting the position of the transmitting device and the deployment position of the underwater acoustic intelligent surface on the transmitting device side and the normal vector of the underwater acoustic intelligent surface on the transmitting device side. If there is an underwater acoustic intelligent surface deployed on the receiving device side, the exit angle is determined by the angle between the normal vector of the underwater acoustic intelligent surface on the transmitting device side and the line connecting the centers of the two underwater acoustic intelligent surfaces. If there is no underwater acoustic intelligent surface deployed on the receiving device side, the exit angle is determined by the normal vector of the underwater acoustic intelligent surface on the transmitting device side and the position of the geometric center of the receiving area.

[0058] The beamforming direction of the underwater acoustic intelligent surface on the receiving device side is determined by the incident angle and the exit angle. Among them, if there is an underwater acoustic intelligent surface deployed on the transmitting device side, the incident angle is determined by the angle between the normal vector of the underwater acoustic intelligent surface on the receiving device side and the line connecting the centers of the two underwater acoustic intelligent surfaces. If there is no underwater acoustic intelligent surface deployed on the transmitting device side, the incident angle is determined by the normal vector of the underwater acoustic intelligent surface on the receiving device side and the position of the geometric center of the transmitting area. The exit angle is determined by the angle between the line connecting the position of the receiving device and the deployment position of the underwater acoustic intelligent surface on the receiving device side and the normal vector of the underwater acoustic intelligent surface on the receiving device side

[0059] Specifically, first, determine the beamforming angle that needs to be achieved by the underwater acoustic intelligent surface on the transmitting device side. As Figure 3 shown, taking the normal direction of the underwater acoustic intelligent surface on the transmitting device side as the w-axis, and the two unit arrangement directions of the underwater acoustic intelligent surface as the u-axis and the v-axis. The beamforming angle consists of two parts: the incident angle and the exit angle. For the incident angle, the horizontal incident angle θ t,1 is determined by the angle between the projection of the line connecting the transmitting device to the center of the underwater acoustic intelligent surface on the transmitting device side on the uow plane and the w-axis, and the vertical incident angle is determined by the angle between the projection of the line connecting the transmitting device to the center of the underwater acoustic intelligent surface on the transmitting device side on the vow plane and the w-axis.

[0060] For the exit angle, if there is an underwater acoustic intelligent surface deployed on the receiving device side, the horizontal exit angle θ t,2 is determined by the angle between the projection of the line connecting the center of the underwater acoustic intelligent surface on the transmitting device side and the center of the underwater acoustic intelligent surface on the receiving device side on the uow plane and the w-axis, and the vertical exit angle is determined by the angle between the projection of the line connecting the center of the underwater acoustic intelligent surface on the transmitting device side and the center of the underwater acoustic intelligent surface on the receiving device side on the vow plane and the w-axis; if there is no underwater acoustic intelligent surface deployed on the receiving device side, the horizontal exit angle θ t,2 is determined by the position of the channel axis corresponding to the geometric center of the receiving area s2 and the angle between the projection of the line connecting the center of the underwater acoustic intelligent surface on the transmitting device side on the uow plane and the w-axis, and the vertical exit angle It is determined by the angle between the projection of the line connecting the geometric center of the underwater acoustic intelligent surface on the transmitting device side and the w-axis in the vow plane. Among them, the geometric center is determined by the angle between the projection of the line connecting the geometric center of the underwater acoustic intelligent surface on the transmitting device side and the w-axis in the vow plane. Among them, the geometric center satisfies

[0061]

[0062] After determining the incident angle and the exit angle, the required beamforming horizontal direction angle θ of the underwater acoustic intelligent surface on the transmitting device side can be determined t and the vertical direction angle That is:

[0063]

[0064] Similarly, for the underwater acoustic intelligent surface on the receiving device side, its incident angle and exit angle can be determined in a similar manner. For the incident angle, the same u, v, w coordinate axes as those of the underwater acoustic intelligent surface on the transmitting device side are established on the underwater acoustic intelligent surface on the receiving device side. For the incident angle, if an underwater acoustic intelligent surface is deployed on the transmitting device side, the horizontal direction incident angle θ r,1 is determined by the angle between the projection of the line connecting the geometric center of the underwater acoustic intelligent surface on the transmitting device side and the geometric center of the underwater acoustic intelligent surface on the receiving device side and the w-axis in the uow plane, and the vertical direction incident angle is determined by the angle between the projection of the line connecting the geometric center of the underwater acoustic intelligent surface on the transmitting device side and the geometric center of the underwater acoustic intelligent surface on the receiving device side and the w-axis in the vow plane; if no underwater acoustic intelligent surface is deployed on the transmitting device side, the horizontal direction incident angle θ r,1 is determined by the angle between the projection of the line connecting the geometric center corresponding to the sound channel axis position and the geometric center of the underwater acoustic intelligent surface on the transmitting device side and the w-axis in the uow plane, and the vertical direction incident angle is determined by the angle between the projection of the line connecting the geometric center and the geometric center of the underwater acoustic intelligent surface on the receiving device side and the w-axis in the vow plane. Among them, the geometric center satisfies

[0065]

[0066] For the incident angle, the horizontal direction exit angle θ r,2 is determined by the angle between the projection of the line connecting the geometric center of the underwater acoustic intelligent surface on the receiving device side and the receiving device and the w-axis in the uow plane, and the vertical direction exit angle is determined by the angle between the projection of the line connecting the geometric center of the underwater acoustic intelligent surface on the receiving device side and the receiving device and the w-axis in the vow plane. After determining the incident angle and the exit angle, the required beamforming horizontal direction angle θ of the underwater acoustic intelligent surface on the receiving device side can be determined r and the vertical direction angle That is:

[0067]

[0068] In the embodiments of the present application, determining the beamforming coefficient of the underwater acoustic intelligent surface according to the beamforming direction and the hardware of the underwater acoustic intelligent surface includes: determining the beamforming vector according to the beamforming direction under the hardware constraints of the underwater acoustic intelligent surface; calculating the error between the beamforming vector and the reference beamforming vector, and calculating the beamforming coefficient of the underwater acoustic intelligent surface according to the error.

[0069] It can be understood that in the embodiments of the present application, under the hardware constraints of the underwater acoustic intelligent surface, the mean value of the error between the beamforming vector implemented by the underwater acoustic intelligent surface and the optimal beamforming vector within the entire system bandwidth is minimized, and the beamforming coefficient of the underwater acoustic intelligent surface is designed.

[0070] Specifically, in the embodiments of the present application, the beamforming coefficients of each underwater acoustic intelligent surface can be determined according to the beamforming angles required to be implemented by each underwater acoustic intelligent surface and the hardware limitations of the underwater acoustic intelligent surface regulation. Suppose the number of horizontal direction units of the deployed underwater acoustic intelligent surface is N1 and the number of vertical direction units is N2. Then, for the beamforming coefficients of the underwater acoustic intelligent surface on the transmitting device side and the receiving device side, there can be a matrix Φ of size N1×N2 t,f or Φ r,f is used to represent that each unit in the matrix represents the regulation coefficient of the underwater acoustic intelligent surface unit at the corresponding position at the frequency point f, and this regulation coefficient is restricted by the hardware of the underwater acoustic intelligent surface.

[0071] On the basis of having determined the beamforming angles required to be implemented, the beamforming coefficients are designed according to the following criterion: under the hardware constraints of the underwater acoustic intelligent surface, the mean value of the error between the beamforming vector implemented by the underwater acoustic intelligent surface and the optimal beamforming vector within the entire system bandwidth is minimized. The above criterion can be expressed in the following mathematical form:

[0072]

[0073] In the above formula, represents the Kronecker product, Ω represents the feasible set of each unit of the underwater acoustic intelligent surface, which is determined by the hardware constraints, W represents the set of all frequency points within the system bandwidth, a(θ t , N1) represents the array response vector, which satisfies the following form

[0074]

[0075] Among them, represents the transpose of, respectively represent the angles of The number of units is N2, and the angle is θ r , the number of units is N1, and the angle is The array response vector when the number of units is N2 is in the same form as a(θ t , N1), where t represents the transmitting side, r represents the receiving side, f represents the frequency, i represents the i-th row of the matrix, and j represents the j-th column of the matrix.

[0076] The method of the embodiment of the present application is executed according to the above steps, so that the number and deployment positions of the underwater acoustic intelligent surfaces to be deployed can be determined before the deployment of the underwater acoustic transceiver, and the beamforming coefficients of each underwater acoustic intelligent surface can be determined during the operation of the underwater acoustic communication system. [[ID=I1]]

[0077] It should be noted that: 1. Generally, the sound speed first decreases and then increases with the water depth. Therefore, the position where the sound speed is the minimum is the depth of the sound channel axis. Therefore, in the embodiment of the present application, the depth of the sound channel axis corresponds to the depth of the sound channel axis when the total water depth of the environment includes the sound channel axis, and refers to the deepest part of the water area when the total water depth of the environment does not include the sound channel axis; the embodiment of the present application does not limit the types of the sound speed profile c(y), including but not limited to the linear profile model, the Munk profile model, the measured profile, etc.;

[0078] 2. The embodiment of the present application does not limit the method for judging whether the sound ray can cover without reflection from the sea surface and the sea bottom in Condition 1, and various models such as the sound ray model and the wave model can be used for calculation; [[ID=I6]]

[0079] 3. The embodiment of the present application does not limit the hardware implementation method of the underwater acoustic intelligent surface. The hardware constraints of the underwater acoustic intelligent surface unit may include forms such as amplitude constraint, phase shift quantization constraint, total power constraint, etc.; this solution does not limit the error calculation method in the beamforming coefficient optimization. The given formula is an example of calculating the error with the L2 norm; the beamforming given in the embodiment of the present application does not limit the optimization method for solving the design of the beamforming coefficient, and non-convex optimization or convex optimization methods can be used for solution according to the convexity of the hardware constraints of the underwater acoustic intelligent surface.

[0080] Next, the deployment and beamforming methods of the underwater acoustic intelligent surface will be elaborated through a specific embodiment. As Figure 4 shown, considering that the transmitting area and the receiving area are located in the same xy plane, the z-direction coordinate is ignored (or it can be considered that the z-direction coordinate is fixed at 0), the water depth is 5 km, the transmitting area S1 = {(x, y)|0 ≤ x ≤ 5, 0 ≤ y ≤ 5} (the following units are all km), the receiving area S2 = {(x, y)|105 ≤ x ≤ 110, 0 ≤ y ≤ 5}, and the sound speed profile is the Munk profile, and its form is:

[0081]

[0082] Among them, c0, ∈, ys is a constant, y0 is the depth of the sound channel axis. Let y0 = 1.1 km, c0 = 1500 m / s, ∈ = 0.0057, and y s = 0.5 km.

[0083] First, it is determined that Condition 1, Condition 2, and Condition 3 are all satisfied at this time. The number of underwater acoustic intelligent surfaces to be deployed is 2, that is, 1 underwater acoustic intelligent surface is required on each of the transmitting device side and the receiving device side. Secondly, the position of the underwater acoustic intelligent surface on the transmitting device side is determined to be (2.5, 1.1), and the deployment position of the underwater acoustic intelligent surface on the receiving device side is (107.5, 1.1). Then, assuming that the transmitting device is located at (5, 0.5) and the receiving device is located at (105, 2.5) at this time, the normal vector of the underwater acoustic intelligent surface on the transmitting device side is perpendicular to the z - direction and the included angle with the sound channel axis is 45 degrees, and the normal vector of the underwater acoustic intelligent surface on the receiving device side is perpendicular to the z - direction and the included angle with the sound channel axis is - 45 degrees. The number of elements is N1 = 15 and N2 = 15 for both, then the beamforming angles of the two underwater acoustic intelligent surfaces are determined, θ t = 0.2355, θ r = 0.5105, After that, considering a narrow - band communication system, that is, the frequency - point set only includes a single - point frequency W = {f}, and the underwater acoustic intelligent surface element is subject to a constant - modulus hardware constraint, that is,}Φ t,f,[i,j] | = 1, then the beamforming coefficients of the two underwater acoustic intelligent surfaces are determined

[0084] As Figure 5 shown, the propagation loss is given when the position of the transmitting device is fixed and the position of the receiving end is changed from 0 to 5 km in the above example. At the same time, Figure 5 the propagation loss is given when no underwater acoustic intelligent surface is deployed and when the underwater acoustic intelligent surface is deployed at other depths and horizontal positions. It can be seen that because the proposed scheme deploys the underwater acoustic intelligent surface at the sound channel axis position, the underwater acoustic transmission can make full use of the low - propagation - loss characteristic of the deep - sea sound channel, and can obtain a 20 - dB reduction in propagation loss compared with the case where no underwater acoustic intelligent surface is deployed. At the same time, the propagation loss is lower than that when the underwater acoustic intelligent surface is deployed at other depths and horizontal positions.

[0085] According to the method for deploying and beamforming of the underwater acoustic intelligent surface proposed in the embodiment of the present application, in the case of a given motion area of an underwater acoustic communication transmitting device and a motion area of an underwater acoustic communication receiving device with a certain distance between them, the deployment quantity, deployment position of the underwater acoustic intelligent surface are determined, and the beamforming design of the underwater acoustic intelligent surface after determining the deployment situation is carried out to utilize the underwater acoustic signal regulation and beamforming capabilities of the underwater acoustic intelligent surface to improve the performance of the underwater acoustic communication transmission rate.

[0086] Next, a deployment and beamforming device for an underwater acoustic intelligent surface according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0087] Figure 6 It is a block diagram of a deployment and beamforming device for an underwater acoustic intelligent surface according to an embodiment of the present application.

[0088] As Figure 6 shown, the deployment and beamforming device 10 of the underwater acoustic intelligent surface includes: an identification module 100, a first determination module 200, and a second determination module 300.

[0089] Among them, the identification module 100 is used to identify the movement area of the underwater acoustic communication device and the sound speed profile of the target deployment water area; the first determination module 200 is used to determine the target deployment quantity of the underwater acoustic intelligent surface according to the movement area and the sound speed profile, and determine the target deployment position of the underwater acoustic intelligent surface according to the movement area, the sound speed profile, and the target deployment quantity; the second determination module 300 is used to determine the beamforming direction required for each deployed underwater acoustic intelligent surface according to the actual position of the underwater acoustic communication device and the target deployment position of the underwater acoustic intelligent surface, and determine the beamforming coefficient of the underwater acoustic intelligent surface according to the beamforming direction and the hardware of the underwater acoustic intelligent surface.

[0090] It should be noted that the foregoing explanation of the embodiment of the deployment and beamforming method of the underwater acoustic intelligent surface also applies to the deployment and beamforming device of the underwater acoustic intelligent surface in this embodiment, and will not be repeated here.

[0091] The deployment and beamforming device of the underwater acoustic intelligent surface according to the embodiment of the present application determines the deployment quantity and deployment position of the underwater acoustic intelligent surface, and the beamforming design of the underwater acoustic intelligent surface after determining the deployment situation, in the case of a given movement area of an underwater acoustic communication transmitting device and a movement area of an underwater acoustic communication receiving device at a certain distance, so as to utilize the underwater acoustic signal regulation and beamforming capabilities of the underwater acoustic intelligent surface to improve the performance of the underwater acoustic communication transmission rate.

[0092] Figure 7 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device may include:

[0093] A memory 701, a processor 702, and a computer program stored on the memory 701 and executable on the processor 702.

[0094] When the processor 702 executes the program, it implements the deployment and beamforming method of the underwater acoustic intelligent surface provided in the above embodiment.

[0095] Furthermore, the electronic device further includes:

[0096] A communication interface 703 for communication between the memory 701 and the processor 702.

[0097] A memory 701 for storing a computer program that can run on a processor 702.

[0098] The memory 701 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0099] If the memory 701, the processor 702, and the communication interface 703 are implemented independently, the communication interface 703, the memory 701, and the processor 702 can be interconnected through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 7 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0100] Optionally, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a single chip, the memory 701, the processor 702, and the communication interface 703 can communicate with each other through an internal interface.

[0101] The processor 702 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0102] The embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the deployment and beamforming method of the underwater acoustic intelligent surface as described above is implemented.

[0103] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0104] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of these features. In the description of this application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0105] Any process or method description shown in a flowchart or described in other ways herein can be understood to represent a module, segment, or part of code including one or N executable instructions for implementing a customized logical function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of this application belong.

[0106] It should be understood that each part of this application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following well-known technologies in the art or a combination of them can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays, field-programmable gate arrays, etc.

[0107] Those of ordinary skill in the technical field of this application can understand that all or part of the steps carried by the method for implementing the above embodiments can be completed by instructing relevant hardware through a program, and the above program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0108] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for deploying and beamforming an underwater acoustic intelligent surface, characterized in that Including the following steps: Identifying the motion area of the underwater acoustic communication device and the sound speed profile of the target deployment water area; Determining the target deployment quantity of the underwater acoustic intelligent surface according to the motion area and the sound speed profile, and determining the target deployment positions of the underwater acoustic intelligent surface according to the motion area, the sound speed profile and the target deployment quantity; Determining the beamforming directions to be achieved by each deployed underwater acoustic intelligent surface according to the actual position of the underwater acoustic communication device and the target deployment positions of the underwater acoustic intelligent surface, and determining the beamforming coefficients of the underwater acoustic intelligent surface according to the beamforming directions and the hardware of the underwater acoustic intelligent surface.

2. The deployment and beamforming method of the underwater acoustic intelligent surface according to claim 1, wherein The determining the target deployment quantity of the underwater acoustic intelligent surface according to the motion area and the sound speed profile includes: Determining the type of underwater acoustic characteristics in the motion area according to the sound speed profile; Determining the target deployment quantity of the underwater acoustic intelligent surface according to the type of underwater acoustic characteristics.

3. The deployment and beamforming method of the underwater acoustic intelligent surface according to claim 2, wherein The motion area of the underwater acoustic communication device includes the sending area where the sending device is located and the receiving area where the receiving device is located. The types of underwater acoustic characteristics include the first to fourth types, and the first to fourth types are determined according to the satisfaction of the target conditions. The target conditions include the first to third conditions. The first condition is that for the underwater acoustic signals sent from any position in the sending area, after being reflected by the sea surface or the sea bottom, they completely cover the receiving area. The second condition is that there is an area in the sending area where the sound speed is greater than the sound speed of the sea surface. The third condition is that there is an area in the receiving area where the sound speed is greater than the sound speed of the sea surface.

4. The deployment and beamforming method of the underwater acoustic intelligent surface according to claim 3, characterized in that, The determining the first to fourth types according to the satisfaction of the target conditions includes: If the first condition is not satisfied, the type of underwater acoustic characteristics is the first type; If the first condition and the second condition are satisfied and the third condition is not satisfied, the type of underwater acoustic characteristics is the second type; If the first condition and the third condition are satisfied and the second condition is not satisfied, the type of underwater acoustic characteristics is the third type; If the first condition, the second condition and the third condition are satisfied, the type of underwater acoustic characteristics is the fourth type; The determining the target deployment quantity of the underwater acoustic intelligent surface according to the type of underwater acoustic characteristics includes: If the type of underwater acoustic characteristics is the first type, the target deployment quantity is 0; If the type of underwater acoustic characteristics is the second type, the target deployment quantity is that 1 underwater acoustic intelligent surface needs to be deployed on the sending device side; If the type of underwater acoustic characteristics is the third type, the target deployment quantity is that 1 underwater acoustic intelligent surface needs to be deployed on the receiving device side; If the type of underwater acoustic characteristics is the fourth type, the target deployment quantity is that 2 underwater acoustic intelligent surfaces need to be deployed, 1 on the sending device side and 1 on the receiving device side.

5. The deployment and beamforming method of the underwater acoustic intelligent surface according to claim 3, characterized in that, The determining the target deployment positions of the underwater acoustic intelligent surface according to the motion area, the sound speed profile and the target deployment quantity includes: Determining the deployment side of the underwater acoustic intelligent surface on the acoustic communication device according to the type of underwater acoustic characteristics; For the underwater acoustic intelligent surface on the deployment side, the depth of the underwater acoustic intelligent surface is the depth where the sound channel axis is located. The sound channel axis depth refers to the depth where the sound speed is the smallest in the sound speed profile. The position of the underwater acoustic intelligent surface is determined by the horizontal position being the position on the sound channel axis that is closest to the average distance of the sending area or the receiving area.

6. The deployment and beamforming method of the underwater acoustic intelligent surface according to claim 1, characterized in that Determining the beamforming directions required for each deployed underwater acoustic intelligent surface according to the actual position of the underwater acoustic communication device and the target deployment position of the underwater acoustic intelligent surface includes: Identifying the transmitting device position and the receiving device position in the actual position of the underwater acoustic communication device; Determining the incident angle and the exit angle of the transmitting device and the receiving device respectively according to the transmitting device position, the receiving device position and the target deployment position of the underwater acoustic intelligent surface; Determining the beamforming direction required for the underwater acoustic intelligent surface on the transmitting device side according to the incident angle and the exit angle of the transmitting device, and determining the beamforming direction required for the underwater acoustic intelligent surface on the receiving device side according to the incident angle and the exit angle of the receiving device.

7. The deployment and beamforming method of the underwater acoustic intelligent surface according to claim 1, characterized in that, Determining the beamforming coefficients of the underwater acoustic intelligent surface according to the beamforming direction and the hardware of the underwater acoustic intelligent surface includes: Determining a beamforming vector according to the beamforming direction under the hardware constraints of the underwater acoustic intelligent surface; Calculating the error between the beamforming vector and a reference beamforming vector, and calculating the beamforming coefficients of the underwater acoustic intelligent surface according to the error.

8. An apparatus for deploying and beamforming of an underwater acoustic intelligent surface, characterized in that, Including: An identification module for identifying the movement area of the underwater acoustic communication device and the sound speed profile of the target deployment water area; A first determination module for determining the target deployment quantity of the underwater acoustic intelligent surface according to the movement area and the sound speed profile, and determining the target deployment position of the underwater acoustic intelligent surface according to the movement area, the sound speed profile and the target deployment quantity; A second determination module for determining the beamforming directions required for each deployed underwater acoustic intelligent surface according to the actual position of the underwater acoustic communication device and the target deployment position of the underwater acoustic intelligent surface, and determining the beamforming coefficients of the underwater acoustic intelligent surface according to the beamforming directions and the hardware of the underwater acoustic intelligent surface.

9. An electronic device, characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the method for deploying and beamforming an underwater acoustic intelligent surface according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instruction is executed, the method for deploying and beamforming an underwater acoustic intelligent surface according to any one of claims 1-7 is implemented.

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