Azimuth determination method, device and equipment based on motion platform attitude correction

Abstract

The invention relates to an orientation determination method and device based on motion platform attitude correction, equipment and a storage medium. The method comprises the following steps: acquiring a drift angle, a roll angle and a trim angle of a motion platform, acquiring a broadband array receiving signal sent by an underwater target based on a pre-established local broadside array coordinate system, decomposing the broadband array receiving signal into a plurality of sub-bands, and transmitting the sub-bands to a local broadside array coordinate system; the beam output power of each sub-band is calculated by combining the deflection angle, the roll angle and the trim angle of the motion platform, the beam output power of the broadband array receiving signal is calculated according to the beam output power of each sub-band, and the azimuth information of the target object is determined based on the beam output power of the broadband array receiving signal. On the basis of conventional beam forming and self-adaptive beam forming algorithms, azimuth estimation of a target object is achieved while the attitude of the motion platform is corrected, and the problems that in the prior art, a motion platform attitude correction azimuth estimation method is large in calculated amount and poor in robustness are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater positioning technology field, and particularly relates to a bearing determination method and device based on motion platform attitude correction, equipment and storage medium. BACKGROUND

[0002] The underwater motion platform has a significant advantage in ocean development due to its good flexibility and maneuverability, but also has an adverse effect on the detection sonar carried on the motion platform. For example, the attitude change of the motion platform causes errors in target bearing estimation, so it is necessary to correct the attitude of the motion platform in real time and complete the target bearing estimation. The motion platform attitude correction and bearing estimation method of the prior art is to convert the array element position coordinate matrix from the local side array coordinate system to the reference coordinate system, and then perform bearing estimation. However, when the number of array elements is large, the conversion calculation of the array element position coordinate matrix is large, and the heading angle, roll angle and pitch angle of the motion platform obtained by the motion platform attitude sensor have measurement errors, which will cause errors in the converted array element position coordinates, thereby affecting the accuracy of the bearing estimation of the target object.

[0003] Therefore, how to improve the accuracy of target object bearing estimation has become a technical problem to be solved by those skilled in the art. SUMMARY

[0004] In view of the above, the present application provides a bearing determination method and device based on motion platform attitude correction, equipment and storage medium, which aims to solve the above technical problems.

[0005] In the first aspect, the present application provides a bearing determination method based on motion platform attitude correction, which comprises:

[0006] obtaining the heading angle, roll angle and pitch angle of the motion platform;

[0007] obtaining the wideband array receiving signal emitted by the underwater target based on the pre-established local side array coordinate system;

[0008] decomposing the wideband array receiving signal into a plurality of subbands, and calculating the beam output power of each subband in combination with the heading angle, roll angle and pitch angle of the motion platform;

[0009] calculating the beam output power of the wideband array receiving signal according to the beam output power of each subband;

[0010] determining the bearing information of the target object based on the beam output power of the wideband array receiving signal.

[0011] In the second aspect, the present application provides a bearing determination device based on motion platform attitude correction, which comprises:

[0012] The first obtaining module is configured to obtain a yaw angle, a roll angle and a pitch angle of the moving platform.

[0013] The second obtaining module is configured to obtain a wideband array receiving signal emitted by the underwater target based on a pre-established local broadside array coordinate system.

[0014] The first calculating module is configured to decompose the wideband array receiving signal into a plurality of subbands, and calculate a beam output power of each subband in combination with the yaw angle, the roll angle and the pitch angle of the moving platform.

[0015] The second calculating module is configured to calculate a beam output power of the wideband array receiving signal according to the beam output power of each subband.

[0016] The determining module is configured to determine the bearing information of the target object based on the beam output power of the wideband array receiving signal.

[0017] In a third aspect, the present application provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus.

[0018] The memory is configured to store a computer program.

[0019] The processor is configured to execute the program stored on the memory, and realize the steps of the bearing determination method based on the moving platform attitude correction according to any one of the embodiments of the first aspect.

[0020] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to realize the steps of the bearing determination method based on the moving platform attitude correction according to any one of the embodiments of the first aspect.

[0021] Compared with the prior art, the above technical solution provided by the embodiments of the present application has the following advantages:

[0022] The present application obtains the yaw angle, the roll angle and the pitch angle of the moving platform, obtains the wideband array receiving signal emitted by the underwater target based on the pre-established local broadside array coordinate system, decomposes the wideband array receiving signal into a plurality of subbands, calculates the beam output power of each subband in combination with the yaw angle, the roll angle and the pitch angle of the moving platform, calculates the beam output power of the wideband array receiving signal according to the beam output power of each subband, and determines the bearing information of the target object based on the beam output power of the wideband array receiving signal. Based on the conventional beam forming and adaptive beam forming algorithm, the bearing estimation of the target object is realized while the attitude of the moving platform is corrected, the problem of large calculation amount and poor robustness of the moving platform attitude correction bearing estimation method in the prior art is solved, and the accuracy of the target object bearing estimation is improved. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating a preferred embodiment of the orientation determination method based on motion platform attitude correction in this application;

[0026] Figure 2 This is a schematic diagram of a preferred embodiment of the orientation determination device based on motion platform attitude correction in this application;

[0027] Figure 3 This is a schematic diagram of a preferred embodiment of the electronic device of this application;

[0028] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0030] It should be noted that the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0031] Reference Figure 1As shown, it is a method flow diagram of an embodiment of the application based on the motion platform attitude correction azimuth determination method. The method is executed by an electronic device, which can be implemented by a software system and / or a hardware system. The motion platform attitude correction based azimuth determination method comprises:

[0032] Step S10: Obtain the drift angle, roll angle and pitch angle of the motion platform;

[0033] Step S20: Based on the pre-established local side array coordinate system, obtain the wideband array received signal emitted by the underwater target;

[0034] Step S30: Decompose the wideband array received signal into multiple subbands, and calculate the beam output power of each subband in combination with the drift angle, roll angle and pitch angle of the motion platform;

[0035] Step S40: Calculate the beam output power of the wideband array received signal according to the beam output power of each subband;

[0036] Step S50: Determine the azimuth information of the target object based on the beam output power of the wideband array received signal.

[0037] In this embodiment, the motion platform can be various underwater or surface motion platforms, including but not limited to ships, submarines, unmanned surface vehicles, underwater robots, buoys and towed array platforms.

[0038] Each side of the motion platform has a side array. For the motion platform, a local side array coordinate system o-xyz and a reference coordinate system O-XYZ can be established. The xoy plane of the local coordinate system o-xyz is defined as the plane where the two side arrays are located, with the center of the plane as the coordinate origin o, the x-axis pointing to the bow, the y-axis being the beam direction of the side array, and the z-axis being perpendicular to the xoy plane upward. The XOY plane of the reference coordinate system O-XYZ is parallel to the sea surface, the X-axis points to the east direction, the Y-axis points to the north direction, the Z-axis is perpendicular to the sea surface upward, the coordinate origin coincides with the coordinate origin of the local coordinate system, and the attitude sensor of the motion platform is used to obtain the drift angle, roll angle and pitch angle of the motion platform.

[0039] When the motion platform moves on the water surface or underwater, its attitude will change constantly. These attitude changes include the drift angle (the angle of the platform deviating from the original heading), the roll angle (the inclination angle of the platform around the longitudinal axis) and the pitch angle (the inclination angle of the platform around the transverse axis). If these attitude changes are not corrected, it will cause errors in the azimuth estimation of the underwater target by the sonar system carried.

[0040] The attitude sensor (such as a gyroscope, an accelerometer, etc.) on the motion platform can be used to obtain the yaw angle, roll angle and pitch angle of the motion platform, and the sensor can measure the attitude change of the motion platform in real time. By obtaining the attitude angle of the motion platform, data support is provided for subsequent correction of the array steering vector, so that the position of the underwater target can be more accurately estimated.

[0041] In order to accurately process the signal and estimate the target position, a local coordinate system needs to be established to describe the geometric layout of the signal receiving array. The local side array coordinate system is established based on the plane where the two side arrays of the motion platform are located, and can describe the signal receiving process and subsequent signal processing.

[0042] Since the array steering vector is related to the frequency, the wideband signal needs to be decomposed into multiple subbands, and the beam output power of each subband is calculated in combination with the attitude angle of the motion platform, so that the target position can be more accurately reflected. By decomposing the wideband array received signal into multiple subbands and correcting the beam output power of each subband according to the attitude angle of the motion platform, the position estimation of the target object can be realized while the attitude of the motion platform is corrected, the calculation complexity is reduced, and the accuracy of the beam output power is improved. Specifically, the wideband array received signal is decomposed into multiple subbands, which includes:

[0043] The wideband array received signal is subjected to Fourier transform to obtain the signals of different subbands of the wideband array received signal.

[0044] The wideband array received signal is sampled to obtain a discrete-time signal, and the discrete-time signal is subjected to Fourier transform. The fast Fourier transform (FFT) algorithm can be used to improve the calculation efficiency. According to the result of the Fourier transform, the signal is decomposed into multiple subbands to obtain the signals of different subbands of the wideband array received signal. Each subband corresponds to a certain frequency range. By decomposing the wideband array received signal into multiple subbands through Fourier transform, the calculation complexity can be reduced and the accuracy of the position estimation can be improved.

[0045] After obtaining the beam output power of each subband, the beam output power of these subbands needs to be comprehensively analyzed to obtain the beam output power of the wideband array received signal. This is because the overall characteristics of the wideband signal need to consider the contribution of all subbands. The beam output power after comprehensive analysis can more comprehensively reflect the position information of the target object. For example, the beam output power of each subband is weighted and summed. The weight can be determined based on the frequency width or signal energy of the subband. By comprehensively analyzing the beam output power of each subband, the beam output power of the wideband array received signal can be obtained, which can more comprehensively reflect the target position information and improve the accuracy of the position estimation.

[0046] The size of the beam output power reflects the strength of the signal in different directions. By analyzing the distribution of the beam output power in different directions, the direction of the target object can be determined. For example, if the beam output power in the 45-degree direction is the maximum, it is determined that the direction of the target object is 45 degrees. By analyzing the direction corresponding to the maximum value of the beam output power, the direction of the target object can be accurately estimated, and the accuracy of the target direction estimation is improved.

[0047] In one embodiment, the beam output power of each sub-band is calculated based on the yaw angle, roll angle and pitch angle of the moving platform, including:

[0048] The array signal covariance matrix corresponding to each frequency point of each sub-band is calculated, and the array steering vector is calculated based on the yaw angle, roll angle and pitch angle of the moving platform;

[0049] The beam output power of each sub-band is calculated based on the array signal covariance matrix and the array steering vector.

[0050] The array signal covariance matrix and the array steering vector are key parameters in the beam forming algorithm. The array signal covariance matrix is the autocorrelation matrix of the array received signal, which reflects the statistical characteristics of the array received signal, while the array steering vector describes the propagation direction and phase relationship of the signal in the array. The attitude change (such as the yaw angle, roll angle and pitch angle) of the moving platform will affect the phase of the array steering vector, thereby affecting the calculation of the beam output power. By correcting the attitude angle, the direction information of the target object can be more accurately estimated.

[0051] Specifically, the beam output power of each sub-band is calculated by the following formula:

[0052]

[0053] where P MCBF (f j ,θ,φ,γ,α) and respectively represent the beam output power of the jth sub-band of the conventional beam forming and the beam output power of the jth sub-band of the adaptive beam forming after the attitude correction of the moving platform, represents the array steering vector at the frequency point f j when the attitude of the moving platform changes, where is the time delay of the mth array element relative to the reference array element when the attitude of the moving platform changes, which is represented as:

[0054]

[0055] where d is the array element spacing, c is the sound speed in water, and θ represents the scanning direction, γ, α represent the yaw angle, roll angle and pitch angle of the moving platform respectively; R(f j ) represents the array signal covariance matrix at frequency point f j -1 (f j ) represents the inverse matrix of the array signal covariance matrix at frequency point f j .

[0056] Specifically, the beam output power of the wideband array received signal is calculated by using the following formula:

[0057]

[0058] wherein P MCBF (θ, φ, γ, α) and P represent the beam output power of the wideband array received signal of the conventional beam forming and the beam output power of the wideband array received signal of the adaptive beam forming after the attitude correction of the moving platform respectively, and J is the number of subbands.

[0059] wherein the expression of the wideband array received signal is:

[0060]

[0061] wherein x m (t) represents the wideband received signal of the mth array element, s k (t) represents the wideband signal emitted by the kth signal source, K represents the number of signal sources, τ m,k represents the time delay of the signal received by the mth array element from the kth signal source relative to the reference array element, n m (t) represents the zero-mean Gaussian white noise received by the mth array element, and M is the number of received array elements.

[0062] wherein the signal of different subbands of the wideband array received signal is expressed as:

[0063]

[0064] X(f j ) and N(f j ) are the frequency spectrum of the array received signal and noise at frequency f j , S(f j ) is the frequency spectrum of the signal source, is the array manifold matrix, which can be expressed as:

[0065]

[0066] wherein a is the steering vector of the kth signal at frequency f j , which can be expressed as: ​

[0067]

[0068] wherein the array signal covariance matrix at the frequency point f j and the array steering vector at the frequency point f

[0069] R(f j ) = X(f j )X H (f j )

[0070]

[0071] wherein R(f j ) is the array signal covariance matrix at the frequency point f j , X(f j ) is the spectrum value of the discrete Fourier transform of the array received signal at the frequency point f j , and (X) H represents the conjugate transpose of X; is the array steering vector at the frequency point f j when the motion platform changes in pose, is the time delay of the mth array element relative to the reference array element when the motion platform changes in pose, which can be expressed as:

[0072]

[0073] wherein d is the array element spacing, and c is the sound speed in water.

[0074] Referring to FIG. 1, a functional module schematic diagram of a bearing determination device 100 based on motion platform pose correction is shown. Figure 2

[0075] The bearing determination device 100 based on motion platform pose correction described herein is installed in an electronic device. According to the functions implemented, the bearing determination device 100 based on motion platform pose correction includes a first acquisition module 110, a second acquisition module 120, a first calculation module 130, a second calculation module 140, and a determination module 150. The above modules can also be referred to as units, which refer to a series of computer program segments that can be executed by an electronic device processor and can complete a fixed function, and are stored in the memory of the electronic device.

[0076] In this embodiment, the functions of each module / unit are as follows:

[0077] The first acquisition module 110 is configured to acquire the yaw angle, roll angle, and pitch angle of the motion platform.

[0078] ​The second acquisition module 120 is configured to acquire a wideband array receiving signal emitted by the underwater target based on a pre-established local side array coordinate system.

[0079] The first calculation module 130 is configured to decompose the wideband array receiving signal into a plurality of subbands, and calculate a beam output power of each subband in combination with a yaw angle, a roll angle and a pitch angle of the motion platform.

[0080] The second calculation module 140 is configured to calculate a beam output power of the wideband array receiving signal according to the beam output power of each subband.

[0081] The determination module 150 is configured to determine the azimuth information of the target object based on the beam output power of the wideband array receiving signal.

[0082] In one embodiment, the decomposition of the wideband array receiving signal into a plurality of subbands comprises:

[0083] Performing Fourier transform on the wideband array receiving signal to obtain signals of different subbands of the wideband array receiving signal.

[0084] In one embodiment, the calculation of the beam output power of each subband in combination with the yaw angle, the roll angle and the pitch angle of the motion platform comprises:

[0085] Calculating an array signal covariance matrix of each subband corresponding to a frequency point, and calculating an array steering vector according to the yaw angle, the roll angle and the pitch angle of the motion platform.

[0086] Calculating the beam output power of each subband according to the array signal covariance matrix and the array steering vector.

[0087] In one embodiment, the beam output power of each subband is calculated by using the following formula:

[0088]

[0089] wherein, and respectively represent a beam output power of a jth subband of the conventional beam forming and a beam output power of a jth subband of the adaptive beam forming after the motion platform attitude is corrected, represents an array steering vector at a frequency point f j when the attitude of the motion platform changes, wherein is a time delay of an mth array element relative to a reference array element when the attitude of the motion platform changes, and is represented as:

[0090]

[0091] where d is the element spacing, c is the sound speed in water, and θ represents the scan direction, γ, α represent the yaw, roll and pitch angles of the moving platform, respectively, and R(f j ) represents the array signal covariance matrix at frequency point f j ) represents the inverse matrix of the array signal covariance matrix at frequency point f -1 ) represents the inverse matrix of the array signal covariance matrix at frequency point f j ) represents the inverse matrix of the array signal covariance matrix at frequency point f j .

[0092] In one embodiment, the beam output power of the wideband array received signal is calculated by using the following formula:

[0093]

[0094] wherein and represent the beam output power of the wideband array received signal by the conventional beam forming and the adaptive beam forming after the attitude correction of the moving platform, respectively, and J is the number of subbands.

[0095] In one embodiment, the expression of the wideband array received signal is:

[0096]

[0097] wherein x m (t) represents the wideband received signal of the mth element, s k (t) represents the wideband signal emitted by the kth source, K represents the number of sources, τ m,k represents the time delay of the signal received by the mth element from the kth source relative to the reference element, n m (t) represents the zero-mean Gaussian white noise received by the mth element, and M is the number of received elements.

[0098] In one embodiment, the signal expression of different subbands of the wideband array received signal is:

[0099]

[0100] wherein X(f j ) and N(f j ) are the frequency spectrum of the array received signal and noise at frequency f j , S(f j ) is the frequency spectrum of the source signal, is the array manifold matrix, which is expressed as:

[0101]

[0102] wherein for frequency f j array steering vector of the kth signal.

[0103] Referring to Figure 3 Fig. 1 shows a schematic diagram of a preferred embodiment of an electronic device according to the present application.

[0104] The electronic device comprises a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112 and the memory 113 complete mutual communication through the communication bus 114.

[0105] The memory 113 is configured to store a computer program, for example, a position determination program based on motion platform attitude correction.

[0106] In some embodiments, the processor 111 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor 111 is generally used to control the overall operation of the electronic device, such as performing control and processing related to data interaction or communication, etc. In the present embodiment, the processor 111 is configured to execute program codes or process data stored in the memory 113.

[0107] The communication interface 112 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), and the communication interface 112 can also be used to establish a communication connection between the electronic device and other electronic devices.

[0108] The memory 113 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 113 can be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. In other embodiments, the memory 113 can also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped with the electronic device. Of course, the memory 113 can also include both the internal storage unit and the external storage device of the electronic device. In this embodiment, the memory 113 is generally used to store an operating system and various computer programs installed in the electronic device, such as program codes of a position determination program based on motion platform attitude correction, etc. In addition, the memory 113 can also be used to temporarily store various data that has been output or will be output.

[0109] Figure 3 Only the electronic device with components 111-114 is shown, but it should be understood that all the shown components are not required to be implemented, and more or fewer components can be alternatively implemented.

[0110] In an embodiment of the present application, the processor 111 is configured to implement the position determination method based on motion platform attitude correction provided by any one of the foregoing method embodiments when executing the program stored in the memory 113, including:

[0111] Obtaining a yaw angle, a roll angle and a pitch angle of the motion platform;

[0112] Based on a pre-established local broadside array coordinate system, obtaining a wideband array receiving signal emitted by the underwater target;

[0113] Decomposing the wideband array receiving signal into a plurality of subbands, and calculating a beam output power of each subband in combination with the yaw angle, the roll angle and the pitch angle of the motion platform;

[0114] According to the beam output power of each subband, calculating a beam output power of the wideband array receiving signal;

[0115] Based on the beam output power of the wideband array receiving signal, determining the position information of the target object.

[0116] For detailed descriptions of the above steps, please refer to the aboveFigure 1 Description of flow chart of the embodiment of the bearing determination method based on motion platform attitude correction.

[0117] In addition, the embodiment of the present application also proposes a computer readable storage medium, which is non-volatile or volatile. The computer readable storage medium is any one or any combination of the following: a hard disk, a multimedia card, an SD card, a flash memory card, an SMC, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, etc. The computer readable storage medium includes a storage data area and a storage program area, and the storage program area stores a bearing determination program 10 based on motion platform attitude correction. When the bearing determination program 10 based on motion platform attitude correction is executed by a processor, the following operations are realized:

[0118] Obtain the yaw angle, roll angle and pitch angle of the motion platform;

[0119] Based on the pre-established local side array coordinate system, obtain the wideband array receiving signal emitted by the underwater target;

[0120] Decompose the wideband array receiving signal into a plurality of subbands, and calculate the beam output power of each subband in combination with the yaw angle, roll angle and pitch angle of the motion platform;

[0121] According to the beam output power of each subband, calculate the beam output power of the wideband array receiving signal;

[0122] Based on the beam output power of the wideband array receiving signal, determine the bearing information of the target object.

[0123] The specific implementation of the computer readable storage medium of the present application is substantially the same as that of the bearing determination method based on motion platform attitude correction described above, and will not be repeated here.

[0124] It should be noted that the above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. Moreover, the terms "include", "contain" or any other variant thereof in the present text are intended to cover non-exclusive inclusion, so that the process, device, article or method including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, device, article or method. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, device, article or method including the element.

[0125] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware simulation platform, of course, can also be through hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part of the prior art contribution can be embodied in the form of software products, the computer software product is stored in a storage medium (such as ROM / RAM, magnetic disc, optical disc) as described above, including a number of instructions to make a terminal device execute the method described in various embodiments of the present application.

[0126] The above is only the preferred embodiment of the present application, not the patent range of the present application, any equivalent structure or equivalent flow transformation using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for determining orientation based on motion platform attitude correction, characterized in that, The method includes: Obtain the yaw angle, roll angle, and pitch angle of the motion platform; Based on a pre-established local hull-side array coordinate system, the broadband array received signal emitted by the underwater target is obtained; The received signal of the broadband array is decomposed into multiple sub-bands, and the beam output power of each sub-band is calculated by combining the yaw angle, roll angle and pitch angle of the moving platform. Calculate the beam output power of the received signal of the broadband array based on the beam output power of each sub-band; The azimuth information of the target object is determined based on the beam output power of the received signal from the broadband array.

2. The orientation determination method based on motion platform attitude correction as described in claim 1, characterized in that, The step of decomposing the broadband array received signal into multiple sub-bands includes: Perform a Fourier transform on the received signal of the broadband array to obtain the signals of different subbands of the received signal of the broadband array.

3. The orientation determination method based on motion platform attitude correction as described in claim 1, characterized in that, The calculation of beam output power for each sub-band by combining the yaw angle, roll angle, and pitch angle of the motion platform includes: Calculate the array signal covariance matrix at the frequency point corresponding to each sub-band, and calculate the array steering vector based on the yaw angle, roll angle, and pitch angle of the motion platform; The beam output power of each sub-band is calculated based on the array signal covariance matrix and the array steering vector.

4. The orientation determination method based on motion platform attitude correction as described in claim 3, characterized in that, The beam output power of each sub-band is calculated using the following formula: in, and Let represent the beam output power of the j-th sub-band of conventional beamforming and the beam output power of the j-th sub-band of adaptive beamforming, respectively, after attitude correction of the motion platform. The frequency point f represents the change in attitude of the motion platform. j The array guide vector at that location, in Let m be the time delay of the m-th array element relative to the reference array element during the attitude change of the motion platform, which is expressed as: Where d is the element spacing, c is the speed of sound in water, and θ represents the scanning azimuth. γ and α represent the yaw angle, roll angle, and pitch angle of the motion platform, respectively; R(f j ) represents the frequency point f j The array signal covariance matrix at point R -1 (f j ) represents the frequency point f j The inverse of the array signal covariance matrix.

5. The orientation determination method based on motion platform attitude correction as described in claim 4, characterized in that, The beam output power of the broadband array received signal is calculated using the following formula: in, and These represent the beam output power of the broadband array receiving the signal after attitude correction of the motion platform using conventional beamforming and the beam output power of the broadband array receiving the signal using adaptive beamforming, respectively, where J is the number of sub-bands.

6. The orientation determination method based on motion platform attitude correction as described in claim 1, characterized in that, The expression for the received signal of the broadband array is: Where, x m (t) represents the broadband received signal of the m-th array element, s k (t) represents the broadband signal emitted by the k-th source, where K represents the number of sources, and τ m,k n represents the time delay of the signal received by the m-th array element from the k-th source relative to the reference array element. m (t) represents the zero-mean Gaussian white noise received by the m-th array element, where M is the number of receiving array elements.

7. The orientation determination method based on motion platform attitude correction according to claim 2, characterized in that, The signals of different subbands received by the broadband array are represented as follows: Where X(f) j ) and N(f j ) are frequencies f j The spectrum of the received signal and noise at the array, S(f j () represents the spectrum of the source signal. The array manifold matrix is ​​represented as: in, For frequency f j The array steering vector of the k-th signal.

8. A positioning device based on motion platform attitude correction, characterized in that, The device includes: First acquisition module: used to acquire the yaw angle, roll angle and pitch angle of the motion platform; The second acquisition module is used to acquire broadband array received signals emitted by underwater targets based on a pre-established local side array coordinate system. First calculation module: used to decompose the received signal of the broadband array into multiple sub-bands, and calculate the beam output power of each sub-band by combining the yaw angle, roll angle and pitch angle of the moving platform; The second calculation module is used to calculate the beam output power of the broadband array received signal based on the beam output power of each sub-band. Determination module: Used to determine the azimuth information of the target object based on the beam output power of the received signal from the broadband array.

9. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor, when executing a program stored in memory, implements the orientation determination method based on motion platform attitude correction as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the orientation determination method based on motion platform attitude correction as described in any one of claims 1 to 7.

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