Real-time positioning method and device for invading sound source target

Abstract

The invention discloses a real-time positioning method and device for an invading sound source target, and belongs to the field of sound wave detection. The real-time positioning method comprises the following steps: constructing a detection network by adopting a distributed sound wave sensing optical cable, acquiring a sound wave signal of an invading sound source target and a power spectral density characteristic of the sound wave signal from the detection network, and filtering to further obtain a time difference when a sound wave reaches each sensing channel, and constructing a pseudo-random number in Gaussian distribution according to the maximum value of the time difference, introducing the pseudo-random number into the time difference to calculate and obtain a corresponding position estimation value of the invading sound source target, and repeatedly calculating and obtaining the estimation value with the highest occurrence probability as the final position of the invading sound source target, thereby realizing detection and positioning of the invading sound source target in the network. The problem that in the prior art, the influence of environmental noise is difficult to eliminate, and consequently accurate and rapid positioning of the invading sound source target cannot be achieved is solved, and the real-time performance, the detection range and the positioning precision of the invading sound source target are effectively improved.

Description

Technical Field

[0001] The present invention belongs to the field of sound wave detection, and more specifically, relates to a real-time positioning method and device for an intrusion sound source target. Background Art

[0002] Perimeter security, due to its critical military significance, demands detection technology with high sensitivity, a large monitoring range, and real-time response. Intrusion sound sources are a key aspect of perimeter security, placing even higher demands on detection technology. Currently, the main monitoring technologies for intrusion sound sources are manual inspections and camera video monitoring. These technologies suffer from limited monitoring ranges, low efficiency, and susceptibility to weather conditions, making them inadequate for ensuring perimeter security. Therefore, a real-time method for locating intrusion sound sources is urgently needed to provide early warning.

[0003] To support the growth of Internet traffic, telecommunications operators have deployed large-scale communication optical fiber cables. Distributed fiber-optic acoustic wave sensing technology, as a new sensing technology, uses optical fiber cables as sensing media to monitor vibration events. It has the advantages of high sensitivity, wide monitoring coverage, online real-time response, strong anti-electromagnetic interference ability, and resistance to harsh environments. This technology effectively utilizes existing optical fiber cable resources and saves a large part of hardware costs. Its application has been reported in fields such as traffic monitoring.

[0004] Among the existing public technologies for locating intrusion sound sources, the dual-system microphone array and different sound source localization schemes used in patent CN115902786A make the system structure complex, costly, and have poor real-time performance; the particle swarm optimization algorithm used in patent CN113484865B has a convergence speed and accuracy affected by multiple factors, and the algorithm may fall into a local optimal solution, affecting the accuracy and reliability of positioning; patent CN117148272A uses machine learning to locate sound sources, which has high requirements for data sets and hardware, complex calculations, and is not suitable for real-time positioning of sound sources in complex environments; patent CN116972955A uses distributed fiber optic acoustic wave sensing technology to achieve low-altitude drone positioning, but the parameters used for positioning are greatly affected by wind noise and other factors, and the positioning accuracy is limited.

[0005] In summary, distributed fiber-optic acoustic wave sensing technology can convert existing communication fiber-optic cable resources into sensor arrays for large-scale monitoring of external vibration events. Environmental noise will become the main factor affecting positioning accuracy. Existing technologies make it difficult to reduce the impact of environmental noise in real time, resulting in the inability to accurately and quickly locate intrusion sound source targets. Summary of the Invention

[0006] In view of the defects of the related art, the purpose of the present invention is to provide a real-time positioning method and device for intrusion sound source targets, aiming to improve the monitoring range, applicable environment, accuracy and real-time performance of reconnaissance and positioning of intrusion sound sources.

[0007] To achieve the above objectives, in a first aspect, the present invention provides a real-time positioning method for an intrusion sound source target, comprising:

[0008] S1. Divide the acoustic wave sensing optical cable in the area to be measured into M sensing channels, and obtain the acoustic wave signal in the area to be measured through each sensing channel; wherein the value of M is a positive integer greater than or equal to 3;

[0009] S2. Determine the frequency band range in which the signal energy of the corresponding intrusion sound source target is mainly distributed based on the power spectral density characteristics of the sound wave signal, filter the sound wave signals detected by each sensing channel within the frequency band range, and frame the filtered signals;

[0010] S3. Let n=1; where n is the frame number, n is less than or equal to N, and N is the total number of frames;

[0011] S4, select the first sensor channel as the reference channel, calculate the time difference τ between the sound wave reaching the reference channel and other sensor channels in the nth frame signal n , for the time difference τ n Introducing pseudo-random numbers with Gaussian distribution Get the corrected time difference m is the sensor channel number, M is the total number of sensor channels;

[0012] S5. According to the relationship Calculate the position information of the intrusion sound source target under the frame signal a=[a1…a n …a N ]; where D1 is the spatial distance between the intrusion sound source target and the reference channel, D m is the spatial distance from the intrusion sound source target to the mth sensing channel, v s is the ideal sound wave propagation speed, a n is the location information of the intrusion sound source target under the n-th frame signal;

[0013] S6. Set n=n+1 and repeat steps S3-S5 until n is greater than N, thereby traversing all frame signals and obtaining N sets of position information of the intrusion sound source target;

[0014] S7. Update the referenced pseudo-random number Repeat steps S3-S6 L-1 times to obtain the location information A of the intrusion sound source targets of L×N groups. L×N , select a set of location information with the highest probability of occurrence As the calculated position information of the intrusion sound source target; L is a positive integer greater than 1;

[0015] S8. Obtaining calculated position information of the intrusion sound source target at any time in the area to be detected, so as to achieve real-time tracking of the intrusion sound source target.

[0016] Optionally, step S4 includes:

[0017] S41, the spatial distance from the intrusion sound source target to the mth sensing channel is The relationship between the spatial distance from the intrusion sound source target to the sensing channel and the time difference of arrival of the sound wave is: Among them, the spatial position of the intrusion sound source target is [X0, Y0, Z0], and the spatial position of the mth sensor channel is [X m ,Y m ,Z m ], D1 is the spatial distance between the intrusion sound source target and the reference channel, D m is the spatial distance from the intrusion sound source target to the mth sensing channel, v s is the ideal sound wave propagation speed;

[0018] S42, according to and Construct calculation equation G n a n =b n ;

[0019] in,

[0020] S43, solve the equation in step S42 to obtain the position information of the intrusion sound source target a=[a1…a n …a N ];in, H is the conjugate transpose of the matrix.

[0021] Optionally, the acoustic wave sensing optical cable is one of a single-mode optical cable, a multi-mode optical cable, a discrete scattering enhanced microstructure optical cable, or a spirally wound sound pressure sensitive optical cable.

[0022] Optionally, the length of the sensing channel on the acoustic wave sensing optical cable is greater than or equal to the minimum spatial resolution of the connected acoustic wave sensing system; except for the sensing channels located at the head and tail ends of the acoustic wave sensing optical cable, the lengths of other sensing channels are equal.

[0023] Optionally, framing the filtered signal includes:

[0024] The T-second acoustic wave signal obtained by each sensing channel is divided into a frame of ti seconds to obtain N frames of signal; wherein the length of each frame signal is greater than or equal to the minimum time sampling interval of the acoustic wave signal, and except for the last frame, the lengths of other frame signals are equal.

[0025] Optionally, the time difference τ between the arrival of the sound wave at the reference channel and other sensing channels in the nth frame signal is calculated by using any of the generalized cross-correlation method, Kalman filtering method, minimum mean square error adaptive filtering method or machine learning method. n .

[0026] Optionally, the pseudo-random number with Gaussian distribution The arrival time difference τ calculated based on the nth frame signal n The maximum value of is constructed, where The mean and standard deviation are 0 and 0.15 respectively.

[0027]

[0028] In a second aspect, the present invention provides a real-time positioning device for an intrusion sound source target, comprising:

[0029] An acoustic wave signal acquisition module, configured to divide the acoustic wave sensing optical cable in the area to be measured into M sensing channels, and acquire the acoustic wave signal in the area to be measured through each sensing channel; wherein the value of M is a positive integer greater than or equal to 3;

[0030] An acoustic signal processing module is used to determine the frequency band range in which the signal energy of the corresponding intrusion sound source target is mainly distributed based on the power spectral density characteristics of the acoustic signal, filter the acoustic signal detected by each sensing channel within the frequency band range, and frame the filtered signal;

[0031] A setting module is used to set n=1; wherein n is a frame number, n is less than or equal to N, and N is the total number of frames;

[0032] The time difference calculation module is used to select the first sensor channel as the reference channel and calculate the time difference τ between the sound wave reaching the reference channel and other sensor channels in the nth frame signal. n , for the time difference τ n Introducing pseudo-random numbers with Gaussian distribution Get the corrected time difference m is the sensor channel number, M is the total number of sensor channels;

[0033] Position information estimation module, used according to the relationship Calculate the position information of the intrusion sound source target under the frame signal a=[a1…a n …a N ]; where D1 is the spatial distance between the intrusion sound source target and the reference channel, Dm is the spatial distance from the intrusion sound source target to the mth sensing channel, v s is the ideal sound wave propagation speed, a n is the location information of the intrusion sound source target under the n-th frame signal;

[0034] A recalculation module is used to set n=n+1 and repeatedly execute the steps of the setting module-position information estimation module until n is greater than N, thereby traversing all frame signals and obtaining N sets of position information of the intrusion sound source target;

[0035] Position information calculation module, used to update the referenced pseudo-random number Repeat the steps of the setup module and the calculation module L-1 times to obtain the position information A of the intrusion sound source target of L×N groups. L×N , select a set of location information with the highest probability of occurrence As the calculated position information of the intrusion sound source target; L is a positive integer greater than 1;

[0036] The real-time tracking module is used to obtain the calculated position information of the intrusion sound source target at any time in the area to be detected, so as to realize real-time tracking of the intrusion sound source target.

[0037] Compared with the prior art, the above technical solution conceived by the present invention can achieve the following beneficial effects: The present invention provides a real-time positioning method for intrusion sound source targets, using highly sensitive distributed acoustic wave sensing optical cables to construct multiple sensing channels to form a detection network, thereby realizing the detection and positioning of intrusion sound source targets in the network of the test area. The acoustic wave signal of the intrusion sound source target and its power spectrum density characteristics are obtained from the detection network. After filtering, the time difference between the sound wave reaching each sensing channel can be obtained. A pseudo-random number with a Gaussian distribution is constructed and introduced into the time difference to calculate the corresponding intrusion sound source target position information estimate. The pseudo-random number is used to efficiently compensate for the time domain parameters used for positioning, avoiding local optimal solutions and enhancing the accuracy of the positioning results. The position information estimate with the highest probability of occurrence is repeatedly calculated as the final intrusion sound source target position. This effectively improves the real-time positioning of the intrusion sound source target, expands the detection range, makes it suitable for complex environments, and improves positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic flow chart of a real-time location method for an intrusion sound source target provided by the present invention;

[0039] Figure 2 A method for laying optical cables provided by the present invention;

[0040] Figure 3The acoustic wave time domain signal and its power spectrum density curve provided by the present invention without the intrusion sound source target;

[0041] Figure 4 The present invention provides a sound wave time domain signal and a power spectrum density curve of an intrusion sound source target;

[0042] Figure 5 It is the frame time domain signal of several sensing channels provided by the present invention;

[0043] Figure 6 This is the final position estimation result of the intrusion sound source target provided by the present invention. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0045] The contents involved in the above embodiment are described below in conjunction with a preferred embodiment.

[0046] Example 1

[0047] like Figure 1 As shown, the present invention provides a real-time positioning method for an intrusion sound source target, comprising:

[0048] S1. Divide the acoustic wave sensing optical cable in the area to be measured into M sensing channels, and obtain the acoustic wave signal in the area to be measured through each sensing channel; wherein the value of M is a positive integer greater than or equal to 3;

[0049] S2. Determine the frequency band range in which the signal energy of the corresponding intrusion sound source target is mainly distributed based on the power spectral density characteristics of the sound wave signal, filter the sound wave signals detected by each sensing channel within the frequency band range, and frame the filtered signals;

[0050] S3. Let n=1; where n is the frame number, n is less than or equal to N, and N is the total number of frames;

[0051] S4, select the first sensor channel as the reference channel, calculate the time difference τ between the sound wave reaching the reference channel and other sensor channels in the nth frame signal n , for the time difference τ n Introducing pseudo-random numbers with Gaussian distribution Get the corrected time difference m is the sensor channel number, M is the total number of sensor channels;

[0052] S5. According to the relationship Calculate the position information of the intrusion sound source target under the frame signal a=[a1…a n …a N ]; where D1 is the spatial distance between the intrusion sound source target and the reference channel, D m is the spatial distance from the intrusion sound source target to the mth sensing channel, v s is the ideal sound wave propagation speed, a n is the location information of the intrusion sound source target under the n-th frame signal;

[0053] S6. Set n=n+1 and repeat steps S3-S5 until n is greater than N, thereby traversing all frame signals and obtaining N sets of position information of the intrusion sound source target;

[0054] S7. Update the referenced pseudo-random number Repeat steps S3-S6 L-1 times to obtain the location information A of the intrusion sound source targets of L×N groups. L×N , select a set of location information with the highest probability of occurrence As the calculated position information of the intrusion sound source target; L is a positive integer greater than 1;

[0055] S8. Obtaining calculated position information of the intrusion sound source target at any time in the area to be detected, so as to achieve real-time tracking of the intrusion sound source target.

[0056] like Figure 1 As shown, a highly sensitive acoustic sensing cable is first deployed in the area to be measured. Connecting optical fibers connect it to a distributed optical fiber acoustic sensing system. Distributed optical fiber acoustic sensing technology is used to acquire acoustic signals from each sensing channel on the sensing cable. These sensing channels form a detection network that captures acoustic signals throughout the entire area. The acoustic sensing cable can utilize existing cables or be newly deployed as needed. Phase-sensitive optical time-domain reflectometry is used to acquire acoustic signals from each sensing channel on the sensing cable.

[0057] Optionally, the acoustic wave sensing optical cable is one of a single-mode optical cable, a multi-mode optical cable, a discrete scattering enhanced microstructure optical cable, or a spirally wound sound pressure sensitive optical cable.

[0058] Specifically, the real-time positioning method of the intrusion sound source target provided by the present invention is specifically deployed as follows: Figure 2 shown.

[0059] In the embodiment provided by the present invention, the acoustic wave sensing optical cable is a 3m-spaced discrete scattering enhanced microstructure optical cable, which is laid in a 10cm underground pipe, and can achieve two-dimensional positioning of the intrusion sound source target.

[0060] When multiple sensing channels are divided on the acoustic wave sensing optical cable, the length of the sensing channel is greater than or equal to the minimum spatial resolution of the connected acoustic wave sensing system; except for the sensing channels located at the head and tail ends of the acoustic wave sensing optical cable, the lengths of other sensing channels are equal.

[0061] In the embodiment provided by the present invention, the minimum spatial resolution of the acoustic wave sensing system is 0.6m, and the length of the divided sensing channel is 3m.

[0062] Furthermore, the acoustic wave sensing optical cable is divided into M sensing channels, and the sensing channel is represented by C m , where m is the sensor channel number.

[0063] Get the power spectrum density P of the acoustic signal of the mth sensing channel for T seconds m , filter the acoustic wave signals detected by each sensor channel according to the frequency band range where the energy of the intrusion sound source target signal is mainly distributed, and frame the filtered signals, which is specifically as follows:

[0064] When there is no intrusion sound source target in the test area, the power spectrum density feature P of the acoustic signal obtained by the mth sensing channel is obtained. m1 ;

[0065] When there is an intrusion sound source target in the test area, the power spectrum density feature P of the acoustic signal obtained by the mth sensing channel is obtained. m2 ;

[0066] According to the target power spectrum density characteristic P without intrusion sound source m1 , there is an intrusion sound source target power spectrum density characteristic P m2 , get the frequency band range of the intrusion sound source target [f b1 ~f b2 ]; with [f b1 ~f b2 ] is the passband range, and the acoustic wave signals detected by each sensing channel are band-pass filtered to obtain the filtered signals.

[0067] The filtering method includes any one of bandpass filtering, low-pass filtering, adaptive filtering or machine learning.

[0068] In the embodiment provided by the present invention, Figure 3 and Figure 4 It can be seen that the energy of the target acoustic wave signal of the intrusion sound source is mainly distributed in the frequency band range of [20Hz~200Hz]. A bandpass filter with a passband of [20Hz~200Hz] is used to filter the acoustic wave signals obtained by each sensing channel.

[0069] Optionally, framing the filtered signal includes:

[0070] The T-second acoustic wave signal obtained by each sensing channel is divided into a frame of ti seconds to obtain N frames of signal; wherein the length of each frame signal is greater than or equal to the minimum time sampling interval of the acoustic wave signal, and except for the last frame, the lengths of other frame signals are equal.

[0071] Specifically, in the embodiment provided by the present invention, the minimum time sampling interval of the acoustic wave sensing system for the acoustic wave signal is 0.1ms, and the length of each frame signal is 1s. Figure 5 It is the frame time domain signal of several sensing channels.

[0072] Furthermore, step S4 specifically includes:

[0073] S41, select the first sensor channel as the reference channel, and calculate the time difference between the sound wave reaching the reference channel and other sensor channels in the same frame signal Where n is the frame number, n is less than or equal to N, N is the total number of frames, m is the sensor channel number, and M is the total number of sensor channels.

[0074] Optionally, the time difference τ between the arrival of the sound wave at the reference channel and other sensing channels in the nth frame signal is calculated by using any of the generalized cross-correlation method, Kalman filtering method, minimum mean square error adaptive filtering method or machine learning method. n .

[0075] In the embodiment provided by the present invention, the generalized cross-correlation method is used to calculate the time difference between the arrival of the target sound wave of the intrusion sound source at the reference channel and the other sensing channels in the same frame signal.

[0076] S42, constructing a pseudo-random number with Gaussian distribution according to the maximum value of the time difference obtained from the same frame signal And introduce it into the corresponding time difference τ n , introduce pseudo-random number correction time difference

[0077] Wherein, the pseudo-random number with Gaussian distribution The arrival time difference τ calculated based on the nth frame signal n The maximum value of is constructed, where The mean and standard deviation are 0 and 0.15 respectively.

[0078] Optionally, step S5 includes:

[0079] S51, the spatial distance from the intrusion sound source target to the mth sensing channel is The relationship between the spatial distance from the intrusion sound source target to the sensing channel and the time difference of arrival of the sound wave is: Among them, the spatial position of the intrusion sound source target is [X0, Y0, Z0], and the spatial position of the mth sensor channel is [X m,Y m ,Z m ], D1 is the spatial distance between the intrusion sound source target and the reference channel, D m is the spatial distance from the intrusion sound source target to the mth sensing channel, v s is the ideal sound wave propagation speed;

[0080] In the embodiments provided by the present invention, v s is the ideal speed of sound wave propagation, 150 m / s, and τ is the time difference between the same sound wave reaching the reference channel and the other sensing channels respectively. The errors of both are reflected in τ.

[0081] S52, according to and Construct equation G n a n =b n ;

[0082] in,

[0083] S53, solve the equation in step S52 to obtain the position information of the intrusion sound source target a=[a1…a n …a N ]; where a n is the location information of the intrusion sound source target under the n-th frame signal, H is the conjugate transpose of the matrix.

[0084] According to the contents of steps S6-S7, the pseudo-random number introduced is updated each time by repeating the calculation to obtain the position information A of the intrusion sound source target of L×N groups. L×N .

[0085] In the embodiment provided by the present invention, the Z-direction distance between the sensing optical cable and the intrusion sound source target is 10 cm, which is negligible relative to the sound wave propagation speed. In order to intuitively illustrate the positioning effect of the present invention, the positioning result of the Z-direction position will not be reflected in the final result.

[0086] In a specific embodiment, if Figure 6 As shown in the figure, the actual position of the intrusion sound source target is (2m, 1.4m). According to steps S1-S5, the arrival time difference before the introduction of the pseudo-random number is used to calculate the intrusion sound source target position as (2.164m, 1.532m). In step S5, steps S3 to S4 are looped 100,000 times. The position coordinates with the highest probability of occurrence calculated based on the arrival time difference after the introduction of the pseudo-random number are (2.136m, 1.477m). Therefore, (2.136m, 1.477m) are the final estimated position coordinates of the intrusion sound source target.

[0087] In this embodiment of the present invention, highly sensitive distributed acoustic sensing optical cables are used to construct multiple sensing channels, forming a detection network that enables the detection and location of intrusion sources within the network under test. The acoustic signal and its power spectral density characteristics of the intrusion source are obtained from the detection network. After filtering, the time difference between the arrival of the acoustic wave at each sensing channel is obtained. A pseudo-random number with a Gaussian distribution is constructed and introduced into the time difference to calculate the corresponding intrusion source location information estimate. Repeated calculations are performed to obtain the position information estimate with the highest probability of occurrence as the final intrusion source location information. This embodiment of the present invention proposes the use of pseudo-random numbers to efficiently compensate for the time-domain parameters used in positioning, avoiding local optimal solutions and enhancing the accuracy of positioning results. This overcomes the technical problem of the existing technology that has difficulty in reducing the impact of ambient noise in real time, which has led to the inability to accurately and rapidly locate intrusion sources. It can achieve precise and rapid location and tracking of intrusion sources. This has important implications for the application of distributed fiber-optic acoustic sensing technology in perimeter security and military anti-submarine warfare.

[0088] Example 2

[0089] The present invention provides a real-time positioning device for an intrusion sound source target, comprising:

[0090] An acoustic wave signal acquisition module, configured to divide the acoustic wave sensing optical cable in the area to be measured into M sensing channels, and acquire the acoustic wave signal in the area to be measured through each sensing channel; wherein the value of M is a positive integer greater than or equal to 3;

[0091] An acoustic signal processing module is used to determine the frequency band range in which the signal energy of the corresponding intrusion sound source target is mainly distributed based on the power spectral density characteristics of the acoustic signal, filter the acoustic signal detected by each sensing channel within the frequency band range, and frame the filtered signal;

[0092] A setting module is used to set n=1; wherein n is a frame number, n is less than or equal to N, and N is the total number of frames;

[0093] The time difference calculation module is used to select the first sensor channel as the reference channel and calculate the time difference τ between the sound wave reaching the reference channel and other sensor channels in the nth frame signal. n , for the time difference τ n Introducing pseudo-random numbers with Gaussian distribution Get the corrected time difference m is the sensor channel number, M is the total number of sensor channels;

[0094] Position information estimation module, used according to the relationship Calculate the position information of the intrusion sound source target under the frame signal a=[a1…a n …a N]; where D1 is the spatial distance between the intrusion sound source target and the reference channel, D m is the spatial distance from the intrusion sound source target to the mth sensing channel, v s is the ideal sound wave propagation speed, a n is the location information of the intrusion sound source target under the n-th frame signal;

[0095] A recalculation module is used to set n=n+1 and repeatedly execute the steps of the setting module-position information estimation module until n is greater than N, thereby traversing all frame signals and obtaining N sets of position information of the intrusion sound source target;

[0096] Position information calculation module, used to update the referenced pseudo-random number Repeat the steps of the setup module and the calculation module L-1 times to obtain the position information A of the intrusion sound source target of L×N groups. L×N , select a set of location information with the highest probability of occurrence As the calculated position information of the intrusion sound source target; L is a positive integer greater than 1;

[0097] The real-time tracking module is used to obtain the calculated position information of the intrusion sound source target at any time in the area to be detected, so as to realize real-time tracking of the intrusion sound source target.

[0098] The real-time positioning device for an intrusion sound source target provided by an embodiment of the present invention is used to execute the real-time positioning method for an intrusion sound source target in the first embodiment, and has the same or similar beneficial effects, which will not be described in detail here.

[0099] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A real-time positioning method for an intrusion sound source target, characterized in that: include: S1. Divide the acoustic wave sensing optical cable in the area to be measured into M sensing channels, and obtain the acoustic wave signal in the area to be measured through each sensing channel; wherein the value of M is a positive integer greater than or equal to 3; S2. Determine the frequency band range in which the signal energy of the corresponding intrusion sound source target is mainly distributed based on the power spectral density characteristics of the sound wave signal, filter the sound wave signals detected by each sensing channel within the frequency band range, and frame the filtered signals; S3. Let n=1; where n is the frame number, n is less than or equal to N, and N is the total number of frames; S4, select the first sensor channel as the reference channel, calculate the time difference τ between the sound wave reaching the reference channel and other sensor channels in the nth frame signal n , for the time difference τ n Introducing pseudo-random numbers with Gaussian distribution Get the corrected time difference m is the sensor channel number, M is the total number of sensor channels; S5. According to the relationship Calculate the position information of the intrusion sound source target under the frame signal a=[a1…a n …a N ]; where D1 is the spatial distance between the intrusion sound source target and the reference channel, D m is the spatial distance from the intrusion sound source target to the mth sensing channel, v s is the ideal sound wave propagation speed, a n is the location information of the intrusion sound source target under the n-th frame signal; S6. Set n=n+1 and repeat steps S3-S5 until n is greater than N, thereby traversing all frame signals and obtaining N sets of position information of the intrusion sound source target; S7. Update the referenced pseudo-random number Repeat steps S3-S6 L-1 times to obtain the location information A of the intrusion sound source targets of L×N groups. L×N , select a set of location information with the highest probability of occurrence As the calculated position information of the intrusion sound source target; L is a positive integer greater than 1; S8. Obtaining calculated position information of the intrusion sound source target at any time in the area to be detected, so as to achieve real-time tracking of the intrusion sound source target.

2. The real-time positioning method according to claim 1, wherein: Step S5 includes: S51, the spatial distance from the intrusion sound source target to the mth sensing channel is The relationship between the spatial distance from the intrusion sound source target to the sensing channel and the time difference of arrival of the sound wave is: Among them, the spatial position of the intrusion sound source target is [X0, Y0, Z0], and the spatial position of the mth sensor channel is [X m ,Y m ,Z m ], D1 is the spatial distance between the intrusion sound source target and the reference channel, D m is the spatial distance from the intrusion sound source target to the mth sensing channel, v s is the ideal sound wave propagation speed; S52, according to and Construct calculation equation G n a n =b n ; in, S53, solve the equation in step S52 to obtain the position information of the intrusion sound source target a=[a1…a n …a N ];in, H is the conjugate transpose of the matrix.

3. The real-time positioning method according to claim 1, wherein: The acoustic wave sensing optical cable is one of a single-mode optical cable, a multi-mode optical cable, a discrete scattering enhanced microstructure optical cable or a spirally wound sound pressure sensitive optical cable.

4. The real-time positioning method according to claim 1, wherein: The length of the sensing channel on the acoustic wave sensing optical cable is greater than or equal to the minimum spatial resolution of the connected acoustic wave sensing system; except for the sensing channels located at the head and tail ends of the acoustic wave sensing optical cable, the lengths of other sensing channels are equal.

5. The real-time positioning method according to claim 1, wherein: The framing of the filtered signal includes: The T-second acoustic wave signal obtained by each sensing channel is divided into a frame of ti seconds to obtain N frames of signal; wherein the length of each frame signal is greater than or equal to the minimum time sampling interval of the acoustic wave signal, and except for the last frame, the lengths of other frame signals are equal.

6. The real-time positioning method according to claim 1, wherein: The time difference τ between the sound wave reaching the reference channel and other sensing channels in the n-th frame signal is calculated by using any of the generalized cross-correlation method, Kalman filtering method, minimum mean square error adaptive filtering method or machine learning method. n .

7. The real-time positioning method according to claim 6, wherein: The pseudo-random number with Gaussian distribution The arrival time difference τ calculated based on the nth frame signal n The maximum value of is constructed, where The mean and standard deviation are 0 and 8. A real-time positioning device for intrusion sound source targets, characterized in that: include: An acoustic wave signal acquisition module, configured to divide the acoustic wave sensing optical cable in the area to be measured into M sensing channels, and acquire the acoustic wave signal in the area to be measured through each sensing channel; wherein the value of M is a positive integer greater than or equal to 3; An acoustic signal processing module is used to determine the frequency band range in which the signal energy of the corresponding intrusion sound source target is mainly distributed based on the power spectral density characteristics of the acoustic signal, filter the acoustic signal detected by each sensing channel within the frequency band range, and frame the filtered signal; A setting module is used to set n=1; wherein n is a frame number, n is less than or equal to N, and N is the total number of frames; The time difference calculation module is used to select the first sensor channel as the reference channel and calculate the time difference τ between the sound wave reaching the reference channel and other sensor channels in the nth frame signal. n , for the time difference τ n Introducing pseudo-random numbers with Gaussian distribution Get the corrected time difference m is the sensor channel number, M is the total number of sensor channels; Position information estimation module, used according to the relationship Calculate the position information of the intrusion sound source target under the frame signal a=[a1…a n …a N ]; where D1 is the spatial distance between the intrusion sound source target and the reference channel, D m is the spatial distance from the intrusion sound source target to the mth sensing channel, v s is the ideal sound wave propagation speed, a n is the location information of the intrusion sound source target under the n-th frame signal; A recalculation module is used to set n=n+1 and repeatedly execute the steps of the setting module-position information estimation module until n is greater than N, thereby traversing all frame signals and obtaining N sets of position information of the intrusion sound source target; Position information calculation module, used to update the referenced pseudo-random number Repeat the steps of the setup module and the calculation module L-1 times to obtain the position information A of the intrusion sound source target of L×N groups. L×N , select a set of location information with the highest probability of occurrence As the calculated position information of the intrusion sound source target; L is a positive integer greater than 1; The real-time tracking module is used to obtain the calculated position information of the intrusion sound source target at any time in the area to be detected, so as to realize real-time tracking of the intrusion sound source target.

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