A marine hydroacoustic audio integrated architecture

Abstract

The present invention discloses a marine acoustic and acoustic integration architecture, comprising: a networking management module for networking multiple audio devices within a preset range using pre-deployed networking rules; a data acquisition module for receiving external audio data in real time through each audio device and pre-processing it; a time-space reference unification module for converting external audio data distributed across various locations into a time-space coordinate system unified with the information processing center and performing unified time difference calibration on the external audio data; and an integrated management module for issuing control instructions to each audio device and integrating the collected external audio data to perform target detection, tracking, and identification. Through efficient networking management, data acquisition, time difference calibration, and integrated management, the present invention achieves dynamic scheduling and integrated processing of multiple audio devices.

Description

Technical Field

[0001] The present invention belongs to the field of audio technology, and in particular relates to a marine hydroacoustic audio integrated architecture. Background Art

[0002] In modern audio applications such as sonar systems, audio communications, and speech recognition, audio signal processing and analysis are crucial for improving system performance and user experience. With the continuous advancement of technology, the complexity and diversity of audio applications are increasing. This is especially true in scenarios where multiple devices are working together, which places increasing demands on integrated audio signal processing.

[0003] Traditional audio processing methods are often limited to a single device or fixed functionality. These methods face numerous challenges when processing complex audio signals from multiple devices. Specifically, these methods struggle to effectively integrate and manage data from multiple devices, resulting in low signal processing efficiency and inefficient information utilization. Furthermore, issues with temporal synchronization and spatial positioning between different devices can severely impact signal quality and the accuracy of processing results.

[0004] While existing audio processing technologies can meet basic signal processing requirements to a certain extent, their shortcomings are becoming increasingly apparent in dynamic environments and multi-tasking scenarios. In particular, traditional approaches lack the integration and flexibility to meet the high performance and reliability requirements of modern audio systems, particularly when rapid adaptation to changes and efficient scheduling of audio resources are required. Therefore, developing an integrated audio architecture that can effectively integrate and manage multiple audio devices has become a pressing need. Summary of the Invention

[0005] In view of this, the present invention proposes a marine hydroacoustic audio integration architecture, which realizes dynamic scheduling and integrated processing of multiple audio devices through efficient networking management, data acquisition, time difference calibration and integrated management.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides a marine hydroacoustic and audio integrated architecture, comprising:

[0008] A network management module, used to network multiple audio devices within a preset range using pre-deployed networking rules;

[0009] The data acquisition module is used to receive external audio data in real time through various audio devices and pre-process it;

[0010] The time-space reference unification module is used to convert the external audio data scattered in various locations into a time-space coordinate system unified with the information processing center, and perform unified time difference calibration on the external audio data;

[0011] The integrated management module is used to issue control instructions to each audio device separately and integrate and analyze the collected external audio data to complete the detection, tracking and identification of the target.

[0012] Preferably, the networking management module performs the following operations:

[0013] Determine the device type, device level, device permissions, and device obligations of any audio device based on the networking rules, and determine the networking permissions possessed by the local device based on the networking rules and the status information of the local device;

[0014] When the local device has the networking permission to actively network, it broadcasts the encrypted networking request signal to the outside world and receives the response signal in return.

[0015] When the local device has the networking permission of passive networking, it receives the networking request signal initiated by the external audio device, decrypts and authenticates it. If the authentication fails or the local device does not meet the networking conditions, it will not respond. If the authentication passes and the local device meets the networking conditions, it will broadcast the encrypted response signal to the outside world.

[0016] After receiving the response signal, the local device establishes a communication connection with the response device, determines a preset communication distance range corresponding to the local device according to the type of the local device, and forms an audio device communication network consisting of multiple audio devices based on network coverage extension technology;

[0017] Collect statistics on all audio devices in the audio device communication network, determine the device type, device level, device authority, and device obligation of each audio device, and select multiple node devices that meet the requirements according to the networking rules;

[0018] The authority, tasks and ownership relationships of devices in the audio device communication network are divided based on multiple node devices.

[0019] Preferably, the data acquisition module performs the following operations:

[0020] Issue audio data collection tasks to the controlled audio equipment according to control instructions to obtain external audio data received in real time;

[0021] Filter and denoise the external audio data, and use a virtual base class in the C++ structure to describe the received external audio data. Its member variables consist of the audio device number, reception time, device corresponding track, track status, track coordinates, track speed, track acceleration, Mode-3 / A code, and Mode-C code, and are expressed in estimated units.

[0022] The track coordinates expressed by local polar coordinates are uniformly converted into local rectangular coordinates;

[0023] The data representation of audio data is derived from a base class to generate a subclass. For information that does not exist or is unknown in the message, its corresponding member variables are uniformly set to empty, zero or a special value to ensure a unified data format.

[0024] Preferably, the spatiotemporal reference unification module performs the following operations:

[0025] For any information processing device selected for performing a specific analysis task, the device is used as an information processing center, a local rectangular coordinate system of the information processing center is determined as a standard coordinate system, and a plurality of audio data processed by the information processing center and a first type of audio device that generates each audio data are determined;

[0026] uniformly converting the position coordinates of each first-category audio device into a geocentric coordinate system centered on the earth ellipsoid, and then converting the geocentric coordinate system into a standard coordinate system;

[0027] Determine the timestamp on each device in the standard coordinate system, where the timestamp is uniformly calibrated and generated by BeiDou satellites;

[0028] Comparing the time stamp corresponding to the first type of audio device with the time stamp on the information processing center to determine the data communication delay;

[0029] The time difference is calibrated according to the data communication delay, and in the subsequent process, the position and time stamp of all devices in the standard coordinate system are actively analyzed and calibrated based on the network communication technology between devices.

[0030] Preferably, the integrated management module performs the following operations:

[0031] Analyze the task instructions issued by the operator, determine the task requirements and screen out information processing equipment that meets the task instructions, and determine multiple audio devices used to assist in the detection work as the first type of audio devices corresponding to the information processing equipment;

[0032] Generate control instructions based on the task instructions, and send them to the information processing device and its corresponding first-class audio device respectively;

[0033] For the detection target, drive multiple first-class audio devices to track and detect the target;

[0034] The external audio data collected by the first-class audio equipment is integrated and analyzed by the information processing center, and the audio data obtained from different first-class audio equipment are analyzed to obtain the recognition result of the target.

[0035] Preferably, in the process of the information processing center driving the plurality of first-class audio devices to track and detect the target, the audio data fed back by the plurality of first-class audio devices are integrated and analyzed to obtain an analysis result of the target track, and the analysis process includes:

[0036] Tracking the target's motion state based on multiple audio data to obtain multiple detection results for the target's track;

[0037] Based on multiple detection results, the detection results are integrated and analyzed using a fusion method based on the optimal weighting of state components to obtain the judgment result of the target's comprehensive track;

[0038] Among them, the fusion methods based on the optimal weighting of state components include:

[0039] Assuming that the target is considered to be moving at a uniform speed within a very short detection period, the corresponding uniform target motion model is constructed:

[0040]

[0041] in, represents the state vector of the target at time x, Represents the state transition matrix, which is used to describe how the target state changes from time Transfer to the moment , Indicates that the process is zero-mean Gaussian white noise, is the observation vector with observation noise, which is represented by the observation matrix , state vector and observation noise get;

[0042] A strong tracking filter is used to handle the target tracking problem, and the filter error covariance matrix update formula is:

[0043]

[0044]

[0045] in, is the predicted error covariance matrix, is the regulating factor, , used to adjust the response speed of the filter, is the i-th detection result at time The state transfer matrix is ​​used to map the state vector of the previous moment to the current moment. is the i-th detection result at time given moment The error covariance matrix of the information, is the state transition matrix The transpose of is the i-th detection result at time The process noise covariance matrix, is the i-th detection result at time The observation noise covariance matrix, is the updated error covariance matrix, is the identity matrix, is the i-th detection result at time The Kalman gain, is the i-th detection result at time The observation matrix;

[0046] Combine the target track descriptions from multiple detection results into a comprehensive track:

[0047]

[0048] in, is the state estimation of the fused target, n is the total number of detection results, is the moment in the i-th detection result The fusion weight coefficient of is the moment in the i-th detection result Filter estimate of .

[0049] The present invention has achieved at least the following beneficial effects:

[0050] 1. This architecture not only improves the integration and flexibility of audio equipment, but also significantly enhances the overall performance and reliability of the system through precise synchronization and dynamic scheduling, providing strong technical support for complex audio applications.

[0051] 2. Based on detailed permission management and a dynamic networking mechanism, flexible network construction and device management are achieved by assigning different levels of networking permissions to different devices. This benefits primarily through improved networking flexibility, enhanced network security, optimized network structure, and improved management efficiency. This provides a solid foundation for the collaborative operation of audio devices and ensures efficient operation and reliable communication of the audio system.

[0052] Other advantages, objectives and features of the present invention will be described in the following description and will be apparent to those skilled in the art to some extent, or those skilled in the art can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the present invention provides the following drawings for illustration:

[0054] Figure 1 A simplified structural diagram of a marine hydroacoustic and audio integration architecture according to an embodiment of the present invention;

[0055] Figure 2 Schematic diagram of the connection structure of the integrated management module in an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0057] The present invention provides a marine acoustic and audio integrated architecture, referring to Figure 1 ,include:

[0058] A network management module, used to network multiple audio devices within a preset range using pre-deployed networking rules;

[0059] The data acquisition module is used to receive external audio data in real time through various audio devices and pre-process it;

[0060] The time-space reference unification module is used to convert the external audio data scattered in various locations into a time-space coordinate system unified with the information processing center, and perform unified time difference calibration on the external audio data;

[0061] The integrated management module is used to issue control instructions to each audio device separately and integrate and analyze the collected external audio data to complete the detection, tracking and identification of the target.

[0062] The operating principle and beneficial effects of the above technical solution are as follows: The network management module uses predefined networking rules to automatically discover and connect audio devices within a preset range, forming a unified network and ensuring smooth communication between devices. The data acquisition module is responsible for receiving external audio data in real time and performing preprocessing operations such as noise removal, filtering, and amplification to improve data quality. The spatiotemporal reference unification module converts the dispersed audio data into a unified spatiotemporal coordinate system and performs time difference calibration to ensure accurate time synchronization and spatial positioning of the data. The integrated management module issues control instructions, integrates and analyzes the collected data, and completes target detection, tracking, and identification. This architecture not only improves the integration and flexibility of audio devices, but also significantly enhances the overall performance and reliability of the system through precise synchronization and dynamic scheduling, providing strong technical support for complex audio applications. Through efficient network management, data acquisition, time difference calibration, and integrated management, dynamic scheduling and integrated processing of multiple audio devices are achieved.

[0063] In a preferred embodiment, the networking management module performs the following operations:

[0064] Determine the device type, device level, device permissions, and device obligations of any local device based on networking rules, and determine the networking permissions of the local device based on networking rules and local device status information; local devices with lower permissions only have passive networking permissions (cannot actively initiate networking requests), while local devices with higher permissions have both passive and active networking permissions (can actively initiate networking requests and determine whether networking conditions are met to receive networking requests);

[0065] When the local device's networking authority is active networking, it broadcasts an encrypted networking request signal to the outside world and simultaneously receives a response signal in return; wherein the networking request signal includes relevant information such as the networking request, networking category, the local device's device type, device level, device authority, and device obligations; and the response signal includes at least the responding device's device type, device level, device authority, device obligations, the networking request responded to by the responding device, networking category, interface used for communication connection, and communication protocol;

[0066] When the local device has the networking permission of passive networking, it receives the networking request signal initiated by the external audio device, decrypts and authenticates it. If the authentication fails or the local device does not meet the networking conditions, it will not respond. If the authentication passes and the local device meets the networking conditions, it will broadcast the encrypted response signal to the outside world.

[0067] After receiving the response signal, the local device establishes a communication connection with the response device, determines a preset communication distance range corresponding to the local device according to the type of the local device, and forms an audio device communication network consisting of multiple audio devices based on network coverage extension technology;

[0068] Collect statistics on all audio devices in the audio device communication network, determine the device type, device level, device authority, and device obligation of each audio device, and select multiple node devices that meet the requirements according to the networking rules;

[0069] The authority, tasks and ownership relationships of devices in the audio device communication network are divided based on multiple node devices.

[0070] The working principle and beneficial effects of the above technical solution are as follows: First, based on preset networking rules, the module determines the device type, level, permissions, and obligations of each local device and assigns the corresponding networking permissions to the device accordingly. Devices with lower permissions have only passive networking capabilities, meaning they can only respond to networking requests. Devices with higher permissions have both active and passive networking capabilities, enabling them to initiate networking requests and evaluate whether to accept requests from other devices. When a device has active networking permissions, it broadcasts an encrypted networking request signal containing detailed device information and waits for a response. Devices with only passive permissions receive and process externally initiated networking requests. After decryption and authentication, if conditions are met, they also broadcast a networking request and wait for a response. Upon receiving a response, the device establishes communication with the responding device and, based on a preset communication range, utilizes network coverage expansion technology to build a communication network consisting of multiple audio devices. The module then counts and screens all devices in the network, identifies node devices that meet the requirements based on the networking rules, and assigns these devices permissions, tasks, and ownership relationships. This technical solution works based on detailed permission management and a dynamic networking mechanism. By assigning different levels of networking permissions to different devices, it enables flexible network construction and device management. Its benefits primarily include increased networking flexibility, enhanced network security, optimized network structure, and improved management efficiency. This provides a solid foundation for the collaborative operation of audio devices and ensures efficient operation and reliable communication of the audio system.

[0071] In a preferred embodiment, the data acquisition module performs the following operations:

[0072] Issue audio data collection tasks to the controlled audio equipment according to control instructions to obtain external audio data received in real time;

[0073] Filter and denoise the external audio data, and use a virtual base class in the C++ structure to describe the received external audio data. Its member variables consist of the audio device number, reception time, device corresponding track, track status, track coordinates, track speed, track acceleration, Mode-3 / A code, and Mode-C code, and are expressed in estimated units.

[0074] The track coordinates expressed by local polar coordinates are uniformly converted into local rectangular coordinates;

[0075] The data representation of audio data is derived from a base class to generate a subclass. For information that does not exist or is unknown in the message, its corresponding member variables are uniformly set to empty, zero or a special value to ensure a unified data format.

[0076] The operating principle and beneficial effects of the above technical solution are as follows: The data acquisition module achieves efficient data acquisition and processing for audio devices through a series of sophisticated operations. First, based on control instructions, an audio data acquisition task is issued to the controlled audio device to obtain real-time external audio data. Next, this external audio data is filtered and de-noised to improve data quality and usability. To better describe and manage this data, a virtual base class in a C++ structure is used to define the data format. Its member variables include the audio device number, reception time, device corresponding track, track status, track coordinates, track speed, track acceleration, Mode-3 / A code, and Mode-C code, expressed in International System of Units. In addition, track coordinates expressed in local polar coordinates are uniformly converted to local rectangular coordinates to facilitate subsequent processing and analysis. For information that is absent or unknown in the message, the corresponding member variables are set to null, zero, or a special value to ensure a unified data format, facilitating subsequent integrated analysis and processing. The operating principle of this technical solution is based on precise data acquisition, preprocessing, and formatting, ensuring data consistency and usability. Its beneficial effects are mainly reflected in the following aspects: First, through filtering and denoising processing, the quality of data is improved and the impact of noise on subsequent analysis is reduced; second, the use of virtual base classes and unified data formats makes data management more standardized and facilitates data exchange and integration between different devices; third, coordinate transformation operations simplify the data processing process and improve data processing efficiency; finally, the standardized processing of missing or unknown information ensures the integrity and consistency of the data, providing a solid foundation for subsequent advanced analysis and applications.

[0077] In a preferred embodiment, the spatiotemporal reference unification module performs the following operations:

[0078] For any information processing device selected for performing a specific analysis task, the device is used as an information processing center, a local rectangular coordinate system of the information processing center is determined as a standard coordinate system, and a plurality of audio data processed by the information processing center and a first type of audio device that generates each audio data are determined;

[0079] uniformly converting the position coordinates of each first-category audio device into a geocentric coordinate system centered on the earth ellipsoid, and then converting the geocentric coordinate system into a standard coordinate system;

[0080] Determine the timestamp on each device in the standard coordinate system, where the timestamp is uniformly calibrated and generated by BeiDou satellites;

[0081] Comparing the time stamp corresponding to the first type of audio device with the time stamp on the information processing center to determine the data communication delay;

[0082] The time difference is calibrated according to the data communication delay, and in the subsequent process, the position and time stamp of all devices in the standard coordinate system are actively analyzed and calibrated based on the network communication technology between devices.

[0083] The working principle and beneficial effects of the above technical solution are as follows: First, the local rectangular coordinate system of the information processing center is determined as the standard coordinate system, and the first-class audio devices corresponding to each of the multiple audio data processed by the information processing center are identified. Next, the position coordinates of each first-class audio device are uniformly converted to a geocentric coordinate system centered on the Earth's ellipsoid, and then from the geocentric coordinate system to the standard coordinate system. This step ensures the spatial positioning consistency of all devices. In addition, the module determines the timestamp of each device in the standard coordinate system. These timestamps are calibrated and generated using Beidou satellites to ensure time accuracy and consistency. Subsequently, the timestamp corresponding to the first-class audio device is compared with the timestamp on the information processing center to determine data communication delays. Based on these delays, the module performs time difference correction. Subsequently, the positions and timestamps of all devices in the standard coordinate system are actively analyzed and calibrated using inter-device network communication technology. The working principle of this technical solution is based on precise spatial transformation and time synchronization, ensuring the temporal and spatial accuracy and consistency of audio data. Its beneficial effects are mainly reflected in improving data processing accuracy, enhancing system reliability and stability, and improving the efficiency of multi-device collaborative operation. In this way, the audio integration architecture can more efficiently process and analyze audio data from multiple devices, providing powerful technical support for complex audio applications.

[0084] In a preferred embodiment, referring to Figure 2 , the integrated management module performs the following operations:

[0085] Analyze the task instructions issued by the operator, determine the task requirements and screen out information processing equipment that meets the task instructions, and determine multiple audio devices used to assist in the detection work as the first type of audio devices corresponding to the information processing equipment;

[0086] Generate control instructions based on the task instructions, and send them to the information processing device and its corresponding first-class audio device respectively;

[0087] For the detection target, drive multiple first-class audio devices to track and detect the target;

[0088] The external audio data collected by the first-class audio equipment is integrated and analyzed by the information processing center, and the audio data obtained from different first-class audio equipment are analyzed to obtain the recognition result of the target.

[0089] The operating principle and beneficial effects of the above technical solution are as follows: The integrated management module achieves efficient task management and data integration analysis for audio devices through a series of coordinated operations. Specifically, the module first conducts an in-depth analysis of the task instructions issued by the operator to clarify the specific requirements of the task and, based on this, selects information processing devices that meet the task requirements. Simultaneously, it identifies multiple audio devices as Class I audio devices within the information processing equipment, which will assist in detection. Next, based on the task instructions, the module generates corresponding control instructions and sends these instructions to the information processing devices and their corresponding Class I audio devices, ensuring coordinated operation of the devices. Through the information processing center, multiple Class I audio devices are driven to perform target detection and tracking tasks. Simultaneously, the external audio data collected by the Class I audio devices is integrated and analyzed, and audio data collected from different Class I audio devices is comprehensively analyzed to identify target types. This technical solution's operating principle is based on precise interpretation of task instructions and efficient collaboration between devices. Through integrated analysis and a policy-driven approach, it achieves dynamic monitoring and target management of complex audio scenarios. Its beneficial effects are primarily reflected in the accuracy of task responses, the efficiency of device collaboration, the depth of data processing, the flexibility of target monitoring, and the stability of system operation. Through detailed analysis of task instructions, accurate understanding and execution of task requirements are ensured, improving the accuracy of the system's response to operator instructions. Screening and identifying information processing devices and their first-class audio devices enables effective collaboration between devices and enhances the efficiency of audio data acquisition and processing. Integrated analysis of collected data by the information processing center not only identifies target types but also selects monitoring methods based on preset strategies, enhancing the depth and practicality of data processing. Based on the target type identification results, corresponding monitoring methods can be flexibly selected, enabling the system to adapt to the monitoring needs of different targets and improving monitoring flexibility and adaptability. The automated and intelligent design of the entire process reduces human intervention, lowers the risk of operational errors, and enhances system stability and reliability. In summary, the integrated management module of the present invention, through precise task management and integrated data analysis, provides an efficient, flexible, and stable solution for the collaboration of audio devices and target monitoring, significantly improving the overall performance and application value of the audio system.

[0090] In a preferred embodiment, when the information processing center drives multiple first-class audio devices to track and detect a target, the audio data fed back by the multiple first-class audio devices are integrated and analyzed to obtain an analysis result of the target track. The analysis process includes:

[0091] Tracking the target's motion state based on multiple audio data to obtain multiple detection results for the target's track;

[0092] Based on multiple detection results, the detection results are integrated and analyzed using a fusion method based on the optimal weighting of state components to obtain the judgment result of the target's comprehensive track;

[0093] Among them, the fusion methods based on the optimal weighting of state components include:

[0094] Assuming that the target is considered to be moving at a uniform speed within a very short detection period, the corresponding uniform target motion model is constructed:

[0095]

[0096] in, represents the state vector of the target at time x, Represents the state transition matrix, which is used to describe how the target state changes from time Transfer to the moment , Indicates that the process is zero-mean Gaussian white noise, is the observation vector with observation noise, which is represented by the observation matrix , state vector and observation noise get;

[0097] A strong tracking filter is used to handle the target tracking problem, and the filter error covariance matrix update formula is:

[0098]

[0099]

[0100] in, is the predicted error covariance matrix, is the regulating factor, , used to adjust the response speed of the filter, is the i-th detection result at time The state transfer matrix is ​​used to map the state vector of the previous moment to the current moment. is the i-th detection result at time given moment The error covariance matrix of the information, is the state transition matrix The transpose of is the i-th detection result at time The process noise covariance matrix, is the i-th detection result at time The observation noise covariance matrix, is the updated error covariance matrix, is the identity matrix, is the i-th detection result at time The Kalman gain, is the i-th detection result at time The observation matrix;

[0101] Combine the target track descriptions from multiple detection results into a comprehensive track:

[0102]

[0103] in, is the state estimation of the fused target, n is the total number of detection results, is the moment in the i-th detection result The fusion weight coefficient of is the moment in the i-th detection result Filter estimate of .

[0104] The operating principle and beneficial effects of the above-mentioned technical solution are as follows: While operating multiple first-class audio devices for target detection and tracking, the information processing center integrates and analyzes the audio data fed back by these devices to obtain an accurate analysis of the target's trajectory. The analysis process first tracks the target's motion state based on the multiple audio data sets, thereby obtaining multiple detection results regarding the target's trajectory. Subsequently, these detection results are integrated and analyzed using a fusion method based on optimal weighting of state components to arrive at a comprehensive assessment of the target's trajectory. Specifically, it is assumed that the target can be considered to move at a constant velocity within a very short detection cycle, and a corresponding constant velocity target motion model is constructed accordingly. In this model, the target's state vector at a given moment is described by a state transition matrix, which transitions from one moment to another, while also accounting for the effects of process noise and observation noise. To improve tracking accuracy, a strong tracking filter is used to address the target tracking problem. The update formula for the filter error covariance matrix considers factors such as the prediction error, the adjustment factor, the state transition matrix, the error covariance matrix, the process noise covariance matrix, the observation noise covariance matrix, and the Kalman gain. Ultimately, a composite track is formed by fusing the target's track descriptions from multiple detection results. The fused target state estimate is calculated by combining the filtered estimates of each detection result and the corresponding fusion weighting coefficient. The fusion weighting coefficient is derived from a comprehensive consideration of the corresponding device's reliability, detection range, and spatial outlier relative to the audio device group. Devices with greater reliability, shorter detection ranges, and greater outlier relative to the group receive a higher fusion weighting coefficient. This technical solution, based on the integrated analysis of multi-source data and advanced filtering techniques, improves the accuracy and reliability of target track analysis by fusing the detection results of multiple audio devices. Its beneficial effects are mainly reflected in the following aspects: First, through the integration of multi-source data, the perception ability of the target motion state is enhanced, and the errors and uncertainties that may be caused by a single data source are reduced; second, the adoption of a fusion method based on the optimal weighting of state components can make full use of the information of each detection result and improve the accuracy of target trajectory judgment; third, the application of a strong tracking filter effectively improves the tracking ability of the target dynamic characteristics, especially when the target motion state changes rapidly, it can quickly adapt to and accurately track the target; finally, this scheme provides an efficient and accurate technical means for target detection and tracking in complex environments, which is of great significance for improving the monitoring and analysis capabilities of audio systems.

[0105] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A marine hydroacoustic-audio integrated architecture, characterized in that: include: A network management module, used to network multiple audio devices within a preset range using pre-deployed networking rules; The data acquisition module is used to receive external audio data in real time through various audio devices and pre-process it; The time-space reference unification module is used to convert the external audio data scattered in various locations into a time-space coordinate system unified with the information processing center, and perform unified time difference calibration on the external audio data; The integrated management module is used to issue control instructions to each audio device and integrate and analyze the collected external audio data to complete the detection, tracking and identification of the target; The network management module performs the following operations: Determine the device type, device level, device permissions, and device obligations of any audio device based on the networking rules, and determine the networking permissions possessed by the local device based on the networking rules and the status information of the local device; When the local device has the networking permission to actively network, it broadcasts the encrypted networking request signal to the outside world and receives the response signal in return. When the local device has the networking permission of passive networking, it receives the networking request signal initiated by the external audio device, decrypts and authenticates it. If the authentication fails or the local device does not meet the networking conditions, it will not respond. If the authentication passes and the local device meets the networking conditions, it will broadcast the encrypted response signal to the outside world. After receiving the response signal, the local device establishes communication with the response device, determines a preset communication distance range corresponding to the local device according to the type of the local device, and forms an audio device communication network consisting of multiple audio devices based on network coverage extension technology; Collect statistics on all audio devices in the audio device communication network, determine the device type, device level, device authority, and device obligation of each audio device, and select multiple node devices that meet the requirements according to the networking rules; The authority, tasks and ownership relationships of devices in the audio device communication network are divided based on multiple node devices.

2. The marine hydroacoustic and audio integrated architecture according to claim 1, characterized in that: The data acquisition module performs the following operations: Issue audio data collection tasks to the controlled audio equipment according to control instructions to obtain external audio data received in real time; Filter and denoise the external audio data, and use a virtual base class in the C++ structure to describe the received external audio data. Its member variables consist of the audio device number, reception time, device corresponding track, track status, track coordinates, track speed, track acceleration, Mode-3 / A code, and Mode-C code, and are expressed in estimated units. The track coordinates expressed by local polar coordinates are uniformly converted into local rectangular coordinates; The data representation of audio data is derived from a base class to generate a subclass. For information that does not exist or is unknown in the message, its corresponding member variables are uniformly set to empty, zero or a special value to ensure a unified data format.

3. The marine hydroacoustic and audio integrated architecture according to claim 1, characterized in that: The spatiotemporal benchmark unification module performs the following operations: For any information processing device selected for performing a specific analysis task, the device is used as an information processing center, a local rectangular coordinate system of the information processing center is determined as a standard coordinate system, and a plurality of audio data processed by the information processing center and a first type of audio device that generates each audio data are determined; uniformly converting the position coordinates of each first-category audio device into a geocentric coordinate system centered on the earth ellipsoid, and then converting the geocentric coordinate system into a standard coordinate system; Determine the timestamp on each device in the standard coordinate system, where the timestamp is uniformly calibrated and generated by BeiDou satellites; Comparing the time stamp corresponding to the first type of audio device with the time stamp on the information processing center to determine the data communication delay; The time difference is calibrated according to the data communication delay, and in the subsequent process, the position and time stamp of all devices in the standard coordinate system are actively analyzed and calibrated based on the network communication technology between devices.

4. The marine hydroacoustic and audio integrated architecture according to claim 3, characterized in that: The integrated management module performs the following operations: Analyze the task instructions issued by the operator, determine the task requirements and screen out information processing equipment that meets the task instructions, and determine multiple audio devices used to assist in the detection work as the first type of audio devices corresponding to the information processing equipment; Generate control instructions based on the task instructions, and send them to the information processing device and its corresponding first-class audio device respectively; For the detection target, drive multiple first-class audio devices to track and detect the target; The external audio data collected by the first-class audio equipment is integrated and analyzed by the information processing center, and the audio data obtained from different first-class audio equipment are analyzed to obtain the recognition result of the target.

5. The marine hydroacoustic and audio integrated architecture according to claim 4, characterized in that: When the information processing center drives multiple first-class audio devices to track and detect the target, the audio data fed back by the multiple first-class audio devices are integrated and analyzed to obtain the analysis results of the target track. The analysis process includes: Tracking the target's motion state based on multiple audio data to obtain multiple detection results for the target's track; Based on multiple detection results, the detection results are integrated and analyzed using a fusion method based on the optimal weighting of state components to obtain the judgment result of the target's comprehensive track; Among them, the fusion methods based on the optimal weighting of state components include: Assuming that the target is considered to be moving at a uniform speed within a very short detection period, the corresponding uniform target motion model is constructed: in, represents the state vector of the target at time x, Represents the state transition matrix, which is used to describe how the target state changes from time Transfer to the moment , Indicates that the process is zero-mean Gaussian white noise, is the observation vector with observation noise, which is represented by the observation matrix , state vector and observation noise get; A strong tracking filter is used to handle the target tracking problem, and the filter error covariance matrix update formula is: in, is the predicted error covariance matrix, is the regulating factor, , used to adjust the response speed of the filter, is the i-th detection result at time The state transfer matrix is ​​used to map the state vector of the previous moment to the current moment. is the i-th detection result at time given moment The error covariance matrix of the information, is the state transition matrix The transpose of is the i-th detection result at time The process noise covariance matrix, is the i-th detection result at time The observation noise covariance matrix, is the updated error covariance matrix, is the identity matrix, is the i-th detection result at time The Kalman gain, is the i-th detection result at time The observation matrix; Combine the target track descriptions from multiple detection results into a comprehensive track: in, is the state estimation of the fused target, n is the total number of detection results, is the moment in the i-th detection result The fusion weighting coefficient is obtained by comprehensively calculating the reliability of the corresponding device, the detection distance, and the degree of outliers in the spatial position of the audio device group. is the moment in the i-th detection result Filter estimate of .

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