Side-scan sonar echo simulation method, system and device fusing translation error influence

Abstract

The invention discloses a side-scan sonar echo simulation method, system and device fusing the influence of translation errors, and the method comprises the steps: carrying out the simulation of the echo of a side-scan sonar according to the motion speed and time of the side-scan sonar and the three-dimensional space position error information of the side-scan sonar deviating from ideal linear motion; calculating three-dimensional space coordinates when the side-scan sonar receives and transmits signals; respectively calculating a two-way slant range process between the side-scan sonar and each target in the space; performing corresponding time delay processing on the broadband signal transmitted by the transmitting array element; calculating a Doppler phase brought by the movement of the side-scan sonar relative to the target in a time domain, and adding a corresponding Doppler phase for the delayed signal; coherent accumulation is carried out on the echo signals of all the targets in the time domain to obtain simulation echo signals; and demodulating the simulation echo signal in the time domain to obtain a baseband echo signal. According to the side-scan sonar echo simulation method, the echo signal of the side-scan sonar can be simulated with high precision when the system has translation errors.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a side-scan sonar echo simulation method, system, and device that integrate the influence of translational error. The side-scan sonar echo simulation method can meet the requirements of accurate echo simulation when the side-scan sonar has translational error. Background Art

[0002] The ideal towing method for a side-scan sonar is uniform linear motion, so that the resulting images are free of stretching, shrinking, or target distortion. However, due to numerous factors, such as ocean wind, waves, swells, and the stability of the towing platform, side-scan sonars do not always operate in a uniform, linear motion. Consequently, the resulting images can show stretching and shrinking of targets due to the non-uniform velocity, and distortion can also occur due to the sonar's oscillation. The development process for side-scan sonar equipment is complex, and until the equipment is successfully developed, there is no real-world data to validate various imaging algorithms. Therefore, echo data that simulates real-world conditions is crucial for validating various algorithms. Traditional side-scan sonar echo simulations are typically conducted under uniform linear motion. This type of echo data can only be used for preliminary validation of imaging algorithms. Furthermore, ideal conditions can only be achieved in the laboratory and do not accurately simulate actual ocean conditions. Summary of the Invention

[0003] In response to the above technical problems, the present invention proposes a side-scan sonar echo simulation method, system, and device that integrate the influence of translational error. The side-scan sonar echo simulation method can accurately simulate side-scan sonar echo data with translational error. The side-scan sonar echo simulation method includes the following steps: S1, based on the side scan sonar's movement speed, movement time, and the three-dimensional spatial position error information of the side scan sonar's deviation from the ideal straight line motion, solve the three-dimensional spatial coordinates of the side scan sonar when sending and receiving signals; S2, calculates the two-way slant range between the side-scan sonar and each target in space based on the three-dimensional spatial coordinates of the side-scan sonar when it sends and receives signals; S3, performing corresponding time delay processing on the broadband signal transmitted by the transmitting array element according to the calculated two-way slant range history; S4, calculates the Doppler phase caused by the sonar's relative motion to the target in the time domain, and adds the corresponding Doppler phase to the delayed signal; S5, coherently accumulating the echo signals of all targets in the time domain to obtain a simulated echo signal; S6, demodulating the simulated echo signal in the time domain to obtain a baseband echo signal.

[0004] In step S1, the three-dimensional translation error of the side-scan sonar when sending and receiving signals is calculated based on the side-scan sonar movement speed, movement time, and the three-dimensional translation position error information of the side-scan sonar deviating from the ideal straight line motion: , here It indicates the distance error of the sonar from the ideal position in the track direction. It indicates the distance error of the sonar from the ideal position in the direction perpendicular to the track. Indicates the distance error of the sonar from the ideal position in the depth direction, subscript Indicates The first time sent pulses. Assume that the sonar is at a speed At a distance from the bottom Drag at a height of After that, the ideal positions of the sonar transmitting array elements in the track, vertical track and depth directions are 、 、 , if the three-dimensional translation position error is considered, the transmitting array element is The three-dimensional space coordinates of the moment are ; For the distance from the transmitting array element No. receiving array elements, in The three-dimensional space coordinates of the moment are .

[0005] In step S2, the two-way slant range between the side scan sonar and each target in space is calculated based on the three-dimensional spatial coordinates of the side scan sonar when it sends and receives signals. goals, of which The three-dimensional space coordinates of the target are ,according to The three-dimensional space coordinates of the transmitting element at any moment , calculate the transmit array element and the The distance between the targets for: .according to Moment The three-dimensional coordinates of the receiving array elements , calculate the The receiving array element and the The distance between the targets for: , so we can get the transmitting array element, the The receiving array element and the Two-way slant range of a target for: , In step S3, the broadband signal transmitted by the transmitting array element is subjected to corresponding time delay processing according to the calculated two-way slant range history, and its expression is: ,in Represents the broadband signal emitted by the transmitting array element, Indicates the speed at which sonar sound waves travel in water; Indicates the delay of the transmitted signal Later, The signal received by the receiving element.

[0006] In step S4, the Doppler phase of the sonar relative to the target is calculated in the time domain. , and add the corresponding Doppler phase to the delayed signal, the expression is: , among which, here represents the carrier frequency, the relationship is Represents an imaginary unit. Indicates that the sonar system and the first After the Doppler phase effect caused by the relative motion of the first target, The signal received by the receiving element.

[0007] In step S5, the echo signals of all targets are coherently accumulated in the time domain to obtain a simulated echo signal, which is expressed as: ,in, Indicates the total number of targets in the scene. Indicates that for all targets in the scene, The total signal received by the receiving array elements.

[0008] In step S6, the simulated echo signal is demodulated in the time domain to obtain a baseband echo signal: ,in, Indicates the The baseband echo signals of all targets in the entire scene are received by the receiving array elements.

[0009] According to another aspect of the present invention, the present invention further provides a side scan sonar echo simulation system integrating the influence of translation error, which comprises: A calculation unit is used to calculate the three-dimensional spatial coordinates of the side-scan sonar when sending and receiving signals based on the side-scan sonar movement speed, movement time, and three-dimensional spatial position error information of the side-scan sonar deviating from the ideal straight line movement; A calculation unit is used to calculate the two-way slant range between the side scan sonar and each target in space according to the three-dimensional spatial coordinates when the side scan sonar sends and receives signals; A time delay processing unit, configured to perform corresponding time delay processing on the broadband signal transmitted by the transmitting array element according to the calculated two-way slant range history; An adding unit is used to calculate the Doppler phase caused by the side scan sonar relative to the target motion in the time domain, and add the corresponding Doppler phase to the delayed signal; An accumulation unit, used for coherently accumulating the echo signals of all targets in the time domain to obtain a simulated echo signal; The demodulation unit is used to demodulate the simulated echo signal in the time domain to obtain a baseband echo signal.

[0010] According to one embodiment of the present invention, the solving unit solves the three-dimensional translation error of the side scan sonar when sending and receiving signals based on the side scan sonar movement speed, movement time and the three-dimensional translation position error information of the side scan sonar deviating from the ideal straight line motion: ,in It indicates the distance error of the side scan sonar in the deviation from the ideal position in the track direction. It indicates the distance error of the side scan sonar from the ideal position in the direction perpendicular to the track. Indicates the distance error of the side scan sonar from the ideal position in the depth direction. Indicates The first time sent pulses, assuming the side scan sonar is at speed At a distance from the bottom Drag at a height of After that, the ideal positions of the side scan sonar transmitting array elements in the track, vertical track and depth directions are 、 、 , if the three-dimensional translation position error is considered, the transmitting array element is The three-dimensional space coordinates of the moment are , for the distance from the transmitting array element No. receiving array elements, in The three-dimensional space coordinates of the moment are .

[0011] According to another aspect of the present invention, the present invention further provides a computing device comprising a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed in the processor, the processor executes a side-scan sonar echo simulation method, wherein the side-scan sonar echo simulation method comprises the following steps: S1, based on the side scan sonar's movement speed, movement time, and the three-dimensional spatial position error information of the side scan sonar's deviation from the ideal straight line motion, solve the three-dimensional spatial coordinates of the side scan sonar when sending and receiving signals; S2, calculates the two-way slant range between the side-scan sonar and each target in space based on the three-dimensional spatial coordinates of the side-scan sonar when it sends and receives signals; S3, performing corresponding time delay processing on the broadband signal transmitted by the transmitting array element according to the calculated two-way slant range history; S4, calculates the Doppler phase caused by the side scan sonar's relative motion to the target in the time domain, and adds the corresponding Doppler phase to the delayed signal; S5, coherently accumulating the echo signals of all targets in the time domain to obtain a simulated echo signal; S6, demodulating the simulated echo signal in the time domain to obtain a baseband echo signal.

[0012] Compared with the prior art, the present invention has at least the following beneficial effects: First, the present invention can accurately simulate echo data in the presence of error disturbances, which can help solve the problems caused by actual non-ideal motion. On the one hand, we can analyze the echo data in the presence of error disturbances, which can theoretically better understand and grasp the problems caused by non-ideal motion. On the other hand, we can also study the imaging method under non-ideal motion based on the echo data, and then use the echo data as the input of the imaging method under non-ideal motion to verify the function of the entire system. Secondly, compared with the traditional ideal model of uniform linear motion, the present invention takes into account the influence of three-dimensional translation error on the side-scan sonar echo simulation, which can be closer to the working scene of actual sonar equipment, and is conducive to analyzing echo data in the presence of error disturbance. It can theoretically better understand and grasp the problems caused by non-ideal motion, and can also study imaging methods under non-ideal motion conditions based on the echo data, and then use the echo data as input for the imaging method under non-ideal motion conditions to verify the function of the entire system; In addition, the echo simulation system established by the present invention can also take into account the echo simulation under traditional ideal conditions, has a relatively wide range of application scenarios and has very important practical significance for the research of side-scan sonar systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is the process of the side-scan sonar echo simulation method considering the influence of three-dimensional translation error of the present invention.

[0014] Figure 2 This is a spatial model diagram of the side-scan sonar of the present invention.

[0015] Figure 3 This is the echo simulation result under ideal conditions.

[0016] Figure 4 is the assumed translation error along the x-axis.

[0017] Figure 5 is the assumed translation error along the y-axis.

[0018] Figure 6 is the assumed translation error along the z-axis.

[0019] Figure 7 This is the simulated echo signal when there are translation errors in the x, y, and z axes.

[0020] Figure 8 This is the side scan imaging result of a close-range target.

[0021] Figure 9 This is the side scan imaging result of a long-range target.

[0022] Figure 10 This is a cross-sectional diagram of the close-range target imaging results in the track direction.

[0023] Figure 11 This is a cross-sectional diagram of the imaging results of the long-range target in the track direction.

[0024] Figure 12 This is the process of the side-scan sonar echo simulation system of the present invention.

[0025] Figure 13 is a block diagram of a computing device of the present invention.

[0026] In the picture: 10. Echo simulation system; 11. Solving unit; 12. Calculating unit; 13. Time delay processing unit; 14. Adding unit; 15. Accumulating unit; 16. Demodulating unit; 20. Computing device; 21. Processor; 22. Memory; 23. Input device; 24. Output device. DETAILED DESCRIPTION

[0027] Reference is made to the accompanying drawings of the present invention. Figures 1 to 11According to a preferred embodiment of the present invention, a side-scan sonar echo simulation method that integrates the influence of translational error is used to simulate the echo of the side-scan sonar, wherein the side-scan sonar echo simulation method includes the following steps: S1, according to the side-scan sonar movement speed, movement time and the three-dimensional spatial position error information of the side-scan sonar deviating from the ideal straight line motion, solving the three-dimensional spatial coordinates of the side-scan sonar when transmitting and receiving signals; S2, according to the three-dimensional spatial coordinates of the side-scan sonar when transmitting and receiving signals, respectively calculating the two-way slant range history between the side-scan sonar and each target in space; S3, according to the calculated two-way slant range history, performing corresponding time delay processing on the wide-band signal emitted by the transmitting array element; S4, calculating the Doppler phase caused by the relative movement of the side-scan sonar to the target in the time domain, and adding the corresponding Doppler phase to the delayed signal; S5, coherently accumulating the echo signals of all targets in the time domain to obtain a simulated echo signal; S6, demodulating the simulated echo signal in the time domain to obtain a baseband echo signal. Through the above steps, first, the side-scan sonar echo simulation method of the present invention can accurately simulate the echo data in the presence of error disturbances, which can assist in solving the problems caused by actual non-ideal motion. On the one hand, we can analyze the echo data in the presence of error disturbances, and theoretically better understand and grasp the problems caused by non-ideal motion. On the other hand, we can also study the imaging method in the case of non-ideal motion based on the echo data, and then use the echo data as the input of the imaging method in the case of non-ideal motion to verify the function of the entire system. Second, compared with the ideal mode of traditional uniform linear motion, the side-scan sonar echo simulation method of the present invention takes into account The invention can understand the influence of three-dimensional translation error on the side-scan sonar echo simulation, which can be closer to the working scene of actual sonar equipment, and is conducive to analyzing echo data in the presence of error disturbance. It can theoretically better understand and grasp the problems caused by non-ideal motion, and can also study the imaging method under non-ideal motion based on the echo data, and then use the echo data as the input of the imaging method under non-ideal motion to verify the function of the entire system; thirdly, the echo simulation system established by the side-scan sonar echo simulation method of the present invention can also take into account the echo simulation under traditional ideal conditions, has a wider range of application scenarios and has very important practical significance for the research of side-scan sonar systems.

[0028] Specifically, in step S1, according to the side scan sonar movement speed, movement time and the three-dimensional translation position error information of the side scan sonar deviating from the ideal straight line movement, Figure 2 The three-dimensional rectangular coordinate system shown xyz In the solution, the three-dimensional translation error when the side scan sonar sends and receives signals is: , here It indicates the distance error of the side scan sonar in the deviation from the ideal position in the track direction. It indicates the distance error of the side scan sonar from the ideal position in the direction perpendicular to the track. Indicates the distance error of the side scan sonar from the ideal position in the depth direction. Indicates The first time sent pulses. Assume that the side scan sonar is at a speed of At a distance from the bottom The height along x Axis drags, time passes After that, the ideal positions of the side scan sonar transmitting array elements in the track, vertical track and depth directions are 、 、 , if the three-dimensional translation position error is considered, the transmitting array element is The three-dimensional space coordinates of the moment are ; For the distance from the transmitting array element No. receiving array elements, in The three-dimensional space coordinates of the moment are .

[0029] In step S2, the two-way slant range between the side scan sonar and each target in space is calculated based on the three-dimensional spatial coordinates of the side scan sonar when it sends and receives signals. goals, of which The three-dimensional space coordinates of the target are ,according to The three-dimensional space coordinates of the transmitting element at any moment ,calculate Figure 2 The transmitting element and the The distance between the targets for: .according to Moment The three-dimensional coordinates of the receiving array elements ,calculate Figure 2 Middle The receiving array element and the The distance between the targets for: , so we can get the transmitting array element, the The receiving array element and the Two-way slant range of a target for: .

[0030] In step S3, the broadband signal transmitted by the transmitting array element is subjected to corresponding time delay processing according to the calculated two-way slant range history, and its expression is: ,in Represents the broadband signal emitted by the transmitting array element, Indicates the speed at which sonar sound waves travel in water; Indicates the delay of the transmitted signal Later, The signal received by the receiving element.

[0031] In step S4, the Doppler phase of the side scan sonar relative to the target motion is calculated in the time domain. , and add the corresponding Doppler phase to the delayed signal, the expression is: , among which, here represents the carrier frequency, the relationship is Represents an imaginary unit. Indicates that the side scan sonar system and the first After the Doppler phase effect caused by the relative motion of the first target, The signal received by the receiving element.

[0032] In step S5, the echo signals of all targets are coherently accumulated in the time domain to obtain a simulated echo signal, which is expressed as: ,in, Indicates the total number of targets in the scene. Indicates that for all targets in the scene, The total signal received by the receiving array elements.

[0033] In step S6, the simulated echo signal is demodulated in the time domain to obtain a baseband echo signal: ,in, Indicates the The baseband echo signals of all targets in the entire scene are received by the receiving array elements.

[0034] We assume that the beam angle of the receiving array is 0.00559 radians and the bandwidth of the transmitted linear frequency modulation signal is 30kHz. Assume that there are two ideal point targets in space. The coordinates of the ideal point target at close range on the x-axis, y-axis, and z-axis are 23m, 24m, and 0m respectively; the coordinates of the ideal point target at far range on the x-axis, y-axis, and z-axis are 23m, 85.42m, and 0m respectively. When the side scan sonar moves along the x-axis, there is no motion error on the x-axis, y-axis, and z-axis. The simulated echo signal is as follows: Figure 3 As shown, it is not difficult to find that the side scan sonar echo simulation method of the present invention can also simulate the echo signal when there is no translation error; assuming that there are Figure 4 、 Figure 5 、 Figure 6 The translation error shown in the figure is as follows: Figure 7As shown. In the signal processing process, consider Figure 4 、 Figure 5 、 Figure 6 The translation error shown is Figure 7 The echo signal with motion error is imaged using dynamic focusing beamforming algorithm. The target at close range is as follows: Figure 8 As shown, the target at a long distance is Figure 9 As shown in Figure 2, it is not difficult to find that the imaging result is better after considering the translation error. The profile of the imaging result in the track direction is extracted, and the profile at close distance is as follows: Figure 10 As shown, the cross section at a long distance is as follows Figure 11 As shown in the cross-sectional diagram, the resolutions for near- and far-range imaging targets are calculated to be 0.16m and 0.49m, respectively. The theoretical resolutions for near- and far-range imaging, calculated based on the receiving array beam angle, are 0.15m and 0.48m, respectively. Comparing the theoretical resolutions with the actual resolutions calculated from the cross-sectional diagrams reveals that the processed results are essentially consistent with the theoretical results, within the error range, further validating the accuracy of the side-scan sonar echo simulation method of the present invention.

[0035] Reference Attachment Figure 12 The present invention also provides a side-scan sonar echo simulation system 10 that integrates the influence of translational error, which is used to simulate the echo of the side-scan sonar, wherein the side-scan sonar echo simulation system 10 includes a solution unit 11, a calculation unit 12, a time delay processing unit 13, an addition unit 14, an accumulation unit 15 and a demodulation unit 16. The solution unit 11, the calculation unit 12, the time delay processing unit 13, the addition unit 14, the accumulation unit 15 and the demodulation unit 16 cooperate with each other to realize the echo simulation of the side-scan sonar.

[0036] Specifically, the solving unit 11 is used to solve the three-dimensional spatial coordinates of the side scan sonar when sending and receiving signals according to the side scan sonar movement speed, movement time and the three-dimensional spatial position error information of the side scan sonar deviating from the ideal straight line motion, wherein the solving unit 11 is used to solve the three-dimensional spatial coordinates of the side scan sonar when sending and receiving signals according to the side scan sonar movement speed, movement time and the three-dimensional spatial translation position error information of the side scan sonar deviating from the ideal straight line motion, Figure 2 The three-dimensional rectangular coordinate system shown xyz In the example, the solving unit 11 solves the three-dimensional translation error when the side scan sonar sends and receives signals as ,in It indicates the distance error of the side scan sonar in the deviation from the ideal position in the track direction. It indicates the distance error of the side scan sonar from the ideal position in the direction perpendicular to the track. Indicates the distance error of the side scan sonar from the ideal position in the depth direction. Indicates The first time sent pulses, assuming the side scan sonar is at speed At a distance from the bottom The height along x Axis drags, time passes After that, the ideal positions of the side scan sonar transmitting array elements in the track, vertical track and depth directions are 、 、 , if the three-dimensional translation position error is considered, the transmitting array element is The three-dimensional space coordinates of the moment are ; For the distance from the transmitting array element No. receiving array elements, in The three-dimensional space coordinates of the moment are .

[0037] The calculation unit 12 is used to calculate the two-way slant range between the side scan sonar and each target in space according to the three-dimensional spatial coordinates of the side scan sonar when sending and receiving signals, assuming that there is a horizontal plane. goals, of which The three-dimensional space coordinates of the target are ,according to The three-dimensional space coordinates of the transmitting element at any moment ,calculate Figure 2 The transmitting element and the The distance between the targets for: ,according to Moment The three-dimensional coordinates of the receiving array elements ,calculate Figure 2 Middle The receiving array element and the The distance between the targets for: , so we get the transmitting array element, the The receiving array element and the Two-way slant range of a target for: .

[0038] The time delay processing unit 13 is used to perform corresponding time delay processing on the broadband signal transmitted by the transmitting array element according to the calculated two-way slant range history, and its expression is: ,in Represents the broadband signal emitted by the transmitting array element, Indicates the speed at which sonar sound waves travel in water; Indicates the delay of the transmitted signal Later, The signal received by the receiving element.

[0039] The adding unit 14 is used to calculate the Doppler phase caused by the relative motion of the side scan sonar in the time domain, and add the corresponding Doppler phase to the delayed signal, wherein the Doppler phase caused by the relative motion of the side scan sonar in the time domain is calculated. , and add the corresponding Doppler phase to the delayed signal, the expression is: , where represents the carrier frequency, the relationship is Represents an imaginary unit. Indicates that the side scan sonar system and the first After the Doppler phase effect caused by the relative motion of the first target, The signal received by the receiving element. The accumulation unit 15 is used to perform coherent accumulation on the echo signals of all targets in the time domain to obtain a simulated echo signal, which is expressed as: ,in Indicates the total number of targets in the scene. Indicates that for all targets in the scene, The total signal received by the receiving array elements.

[0040] The demodulation unit 16 is used to demodulate the simulated echo signal in the time domain to obtain a baseband echo signal ,in Indicates the The baseband echo signals of all targets in the entire scene are received by the receiving array elements.

[0041] Reference Attachment Figure 13According to another aspect of the present invention, the present invention further provides a computing device 20, wherein the computing device 20 includes a processor 21 and a memory 22, wherein the memory 22 stores computer program instructions, and when the computer program instructions are executed in the processor 21, the processor 21 executes a side-scan sonar echo simulation method, wherein the side-scan sonar echo simulation method includes the following steps: S1, according to the side-scan sonar movement speed, movement time and the three-dimensional spatial position error information of the side-scan sonar deviating from the ideal straight line motion, solving the three-dimensional spatial position error information when the side-scan sonar transmits and receives the signal dimensional spatial coordinates; S2, according to the three-dimensional spatial coordinates when the side-scan sonar sends and receives signals, calculate the two-way slant range history between the side-scan sonar and each target in space; S3, according to the calculated two-way slant range history, perform corresponding time delay processing on the wide-band signal emitted by the transmitting array element; S4, calculate the Doppler phase caused by the relative motion of the side-scan sonar to the target in the time domain, and add the corresponding Doppler phase to the delayed signal; S5, coherently accumulate the echo signals of all targets in the time domain to obtain a simulated echo signal; S6, demodulate the simulated echo signal in the time domain to obtain a baseband echo signal.

[0042] Thus, first, the computing device 20 of the present invention can accurately simulate echo data in the presence of error disturbances, which can help solve the problems caused by actual non-ideal motion. On the one hand, we can analyze the echo data in the presence of error disturbances, which can theoretically better understand and grasp the problems caused by non-ideal motion. On the other hand, we can also study the imaging method under non-ideal motion based on the echo data, and then use the echo data as the input of the imaging method under non-ideal motion to verify the function of the entire system. Second, compared with the traditional ideal model of uniform linear motion, the computing device 20 of the present invention takes into account the impact of three-dimensional translation error on the side scan sonar echo simulation, which can be closer to the working scene of actual sonar equipment, and is conducive to analyzing the echo data in the presence of error disturbances. It can theoretically better understand and grasp the problems caused by non-ideal motion. It can also study the imaging method under non-ideal motion based on the echo data, and then use the echo data as the input of the imaging method under non-ideal motion to verify the function of the entire system. Third, the echo simulation system established by the computing device 20 of the present invention can also take into account the echo simulation under traditional ideal conditions, has a relatively wide range of application scenarios and has very important practical significance for the research of side scan sonar systems.

[0043] In one embodiment of the computing device 20 of the present invention, the memory 22 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 21 may execute the program instructions to implement the functions of the side-scan sonar echo simulation method of the present invention described above.

[0044] In one embodiment of the computing device 20 of the present invention, the processor 21 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, which can run the program instructions stored on the computer-readable storage medium to implement the functions of the side-scan sonar echo simulation method of the present invention described above.

[0045] In one embodiment of the computing device 20 of the present invention, the computing device 20 may further include an input device 23 and an output device 24. The input device 23 may be, but is not limited to, a keyboard or a mouse; the output device 24 may be, but is not limited to, a display, a speaker, or a printer. The input device 23 and the output device 24 may be connected to the processor 21 via a bus system.

[0046] Those skilled in the art will appreciate that the embodiments of the present invention described above and shown in the accompanying drawings are intended to be illustrative only and are not intended to limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.

Claims

1. A side-scan sonar echo simulation method integrating the influence of translation error is used to simulate the echo of the side-scan sonar, which is characterized by: The side scan sonar echo simulation method comprises the following steps: S1, based on the side scan sonar's movement speed, movement time, and the three-dimensional spatial position error information of the side scan sonar's deviation from the ideal straight line motion, solve the three-dimensional spatial coordinates of the side scan sonar when sending and receiving signals; S2, calculates the two-way slant range between the side-scan sonar and each target in space based on the three-dimensional spatial coordinates of the side-scan sonar when it sends and receives signals; S3, performing corresponding time delay processing on the broadband signal transmitted by the transmitting array element according to the calculated two-way slant range history; S4, calculates the Doppler phase caused by the side scan sonar's relative motion to the target in the time domain, and adds the corresponding Doppler phase to the delayed signal; S5, coherently accumulating the echo signals of all targets in the time domain to obtain a simulated echo signal; S6, demodulating the simulated echo signal in the time domain to obtain a baseband echo signal.

2. The side-scan sonar echo simulation method integrating the influence of translation error according to claim 1 is characterized in that: In step S1, the three-dimensional translation error of the side-scan sonar when sending and receiving signals is calculated based on the side-scan sonar movement speed, movement time, and the three-dimensional translation position error information of the side-scan sonar deviating from the ideal straight line motion: ,in It indicates the distance error of the side scan sonar in the deviation from the ideal position in the track direction. It indicates the distance error of the side scan sonar from the ideal position in the direction perpendicular to the track. Indicates the distance error of the side scan sonar from the ideal position in the depth direction. Indicates The first time sent pulses, assuming the side scan sonar is at speed At a distance from the bottom Drag at a height of After that, the ideal positions of the side scan sonar transmitting array elements in the track, vertical track and depth directions are 、 、 , if the three-dimensional translation position error is considered, the transmitting array element is The three-dimensional space coordinates of the moment are , for the distance from the transmitting array element No. receiving array elements, in The three-dimensional space coordinates of the moment are .

3. The side-scan sonar echo simulation method integrating the influence of translation error according to claim 2 is characterized in that: In step S2, the two-way slant range between the side scan sonar and each target in space is calculated based on the three-dimensional spatial coordinates of the side scan sonar when it sends and receives signals, assuming that there is goals, of which The three-dimensional space coordinates of the target are ,according to The three-dimensional space coordinates of the transmitting element at any moment , calculate the transmit array element and the The distance between the targets for: ,according to Moment The three-dimensional coordinates of the receiving array elements , calculate the The receiving array element and the The distance between the targets for: , get the transmitting array element, the The receiving array element and the Two-way slant range of a target for: .

4. The side-scan sonar echo simulation method integrating the influence of translation error according to claim 3 is characterized in that: In step S3, the broadband signal transmitted by the transmitting array element is subjected to corresponding time delay processing according to the calculated two-way slant range history, and its expression is: ,in Represents the broadband signal emitted by the transmitting array element, It represents the speed at which side scan sonar sound waves propagate in water. Indicates the delay of the transmitted signal Later, The signal received by the receiving element.

5. The side-scan sonar echo simulation method integrating the influence of translation error according to claim 4 is characterized in that: In step S4, the Doppler phase of the side scan sonar relative to the target motion is calculated in the time domain. , and add the corresponding Doppler phase to the delayed signal, the expression is: , where represents the carrier frequency, the relationship is represents the imaginary unit, Indicates that the side scan sonar system and the first After the Doppler phase effect caused by the relative motion of the first target, The signal received by the receiving element.

6. The side-scan sonar echo simulation method integrating the influence of translation error according to claim 5, characterized in that: In step S5, the echo signals of all targets are coherently accumulated in the time domain to obtain a simulated echo signal, which is expressed as: ,in Indicates the total number of targets in the scene. Indicates that for all targets in the scene, The total signal received by the receiving array elements.

7. The side-scan sonar echo simulation method integrating the influence of translation error according to claim 6, characterized in that: In step S6, the echo signals of all targets are demodulated in the time domain to obtain baseband echo signals: ,in Indicates the The baseband echo signals of all targets in the entire scene are received by the receiving array elements.

8. A side-scan sonar echo simulation system integrating the effects of translational errors is characterized by: include: A calculation unit is used to calculate the three-dimensional spatial coordinates of the side-scan sonar when sending and receiving signals based on the side-scan sonar movement speed, movement time, and three-dimensional spatial position error information of the side-scan sonar deviating from the ideal straight line movement; A calculation unit is used to calculate the two-way slant range between the side scan sonar and each target in space according to the three-dimensional spatial coordinates when the side scan sonar sends and receives signals; A time delay processing unit, configured to perform corresponding time delay processing on the broadband signal transmitted by the transmitting array element according to the calculated two-way slant range history; An adding unit is used to calculate the Doppler phase caused by the side scan sonar relative to the target motion in the time domain, and add the corresponding Doppler phase to the delayed signal; An accumulation unit, used for coherently accumulating the echo signals of all targets in the time domain to obtain a simulated echo signal; The demodulation unit is used to demodulate the simulated echo signal in the time domain to obtain a baseband echo signal.

9. The side-scan sonar echo simulation system integrating translation error effects according to claim 8, characterized in that: The solving unit solves the three-dimensional translation error of the side scan sonar when sending and receiving signals based on the side scan sonar movement speed, movement time and the three-dimensional translation position error information of the side scan sonar deviating from the ideal straight line movement: ,in It indicates the distance error of the side scan sonar in the deviation from the ideal position in the track direction. It indicates the distance error of the side scan sonar from the ideal position in the direction perpendicular to the track. Indicates the distance error of the side scan sonar from the ideal position in the depth direction. Indicates The first time sent pulses, assuming the side scan sonar is at speed At a distance from the bottom Drag at a height of After that, the ideal positions of the side scan sonar transmitting array elements in the track, vertical track and depth directions are 、 、 , if the three-dimensional translation position error is considered, the transmitting array element is The three-dimensional space coordinates of the moment are , for the distance from the transmitting array element No. receiving array elements, in The three-dimensional space coordinates of the moment are .

10. A computing device, characterized in that The method comprises a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed in the processor, the processor executes the side-scan sonar echo simulation method according to any one of claims 1 to 7.

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