A method and device for motion compensation of passive sonar detection

Abstract

The application provides a motion compensation method and device for passive sonar detection, the compensation method comprising: acquiring underwater acoustic signals collected by a passive sonar in real time within a preset period; performing segmented processing and Fourier transform on the underwater acoustic signals to obtain underwater acoustic frequency domain signal segments; constructing a parameterized search matrix for each underwater acoustic frequency domain signal segment, determining motion compensation parameters for each underwater acoustic frequency domain signal segment through energy spectrum search; performing phase compensation on the underwater acoustic frequency domain signal segments based on the motion compensation parameters to obtain compensated frequency domain signal segments; and performing inverse discrete Fourier transform on the compensated frequency domain signal segments to obtain compensated time domain signal segments, so as to determine a long-time coherent integration result corresponding to the underwater acoustic signals. Through the above method, the gain of passive sonar detection processing under low signal-to-noise ratio conditions is improved, and the accuracy and stability of passive sonar detection are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater acoustic signal processing, in particular to a motion compensation method and device for passive sonar detection. BACKGROUND

[0002] Passive sonar detection technology realizes concealed detection by receiving noise radiated by a target moving object. The detection performance of passive sonar is limited by the influence of signal accumulation time and Doppler effect. In actual scenarios, the target moving object causes time delay spread and Doppler frequency shift of the generated signal, which destroys the phase coherence of the signal. The traditional long-time coherent integration method (for example, the periodogram method) significantly reduces the integration gain of the signal.

[0003] At present, the autoregressive moving average frequency estimation method based on the parametric model can compensate for the Doppler effect by estimating the motion parameters of the target moving object. Although a better processing gain can be obtained under the condition of high signal-to-noise ratio, the error of parameter estimation is large under the condition of low signal-to-noise ratio, which reduces the accuracy and stability of passive sonar detection. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a motion compensation method and device for passive sonar detection. The underwater acoustic signals collected in real time by the passive sonar within a preset period for a moving object in a target water area are segmented and Fourier transformed to obtain a plurality of underwater acoustic frequency domain signal segments. The broadband spectrum peak tracking is performed on each underwater acoustic frequency domain signal segment by constraining the search frequency and search speed of each underwater acoustic frequency domain signal segment. Then, the motion compensation parameters are determined through the energy-like spectrum search, which has the effects of fast convergence speed and low computational complexity. The long-time coherent integration result is obtained at the same time as the underwater acoustic time domain signal after motion compensation, which realizes the gain improvement of passive sonar detection processing under the condition of low signal-to-noise ratio, and improves the accuracy and stability of passive sonar detection.

[0005] The motion compensation method for passive sonar detection provided in the present application embodiment comprises:

[0006] obtaining underwater acoustic signals collected in real time by a passive sonar within a preset period for a moving object in a target water area;

[0007] segmenting the underwater acoustic signals to obtain a plurality of underwater acoustic time domain signal segments, and performing Fourier transform on each underwater acoustic time domain signal segment to obtain an underwater acoustic frequency domain signal segment corresponding to each underwater acoustic time domain signal segment;

[0008] constructing a parametric search matrix corresponding to each underwater acoustic frequency domain signal segment, and determining a motion compensation parameter corresponding to each underwater acoustic frequency domain signal segment through energy-like spectrum search based on the parametric search matrix.

[0009] Based on the motion compensation parameter, each frequency point in the underwater acoustic frequency domain signal segment is phase compensated to obtain a corresponding compensated frequency domain signal segment of each underwater acoustic frequency domain signal segment;

[0010] Inverse discrete Fourier transform is performed on the compensated frequency domain signal segment to obtain a corresponding compensated time domain signal segment of each underwater acoustic time domain signal segment to determine a long-time coherent integration result corresponding to the underwater acoustic signal.

[0011] Further, the segmenting processing of the underwater acoustic signal to obtain a plurality of underwater acoustic time domain signal segments comprises:

[0012] The amplitude value and length value corresponding to the underwater acoustic signal are obtained, and based on the amplitude value, the length value and a preset phase signal coefficient, a polynomial underwater acoustic signal corresponding to each sampling time in a preset period is determined;

[0013] The polynomial underwater acoustic signal is segmented according to a preset segment data amount to determine a time interval and non-overlapping data corresponding to each polynomial underwater acoustic signal;

[0014] Based on the time interval and the non-overlapping data, a preset rectangular window function is used to determine an underwater acoustic time domain signal segment corresponding to each polynomial underwater acoustic signal to obtain a plurality of underwater acoustic time domain signal segments.

[0015] Further, the Fourier transform of each underwater acoustic time domain signal segment to obtain a corresponding underwater acoustic frequency domain signal segment of each underwater acoustic time domain signal segment comprises:

[0016] Based on an initial constant frequency corresponding to each underwater acoustic frequency domain signal segment, a frequency variation range corresponding to each underwater acoustic frequency domain signal segment is determined;

[0017] Each underwater acoustic time domain signal segment is subjected to Fourier transform to obtain a corresponding underwater acoustic frequency domain signal segment of each underwater acoustic time domain signal segment; wherein the frequency variation range corresponding to each underwater acoustic frequency domain signal segment is greater than or equal to a calibration frequency variation range.

[0018] Further, the construction of a parameterized search matrix corresponding to each underwater acoustic frequency domain signal segment and the determination of a motion compensation parameter corresponding to each underwater acoustic frequency domain signal segment through a similar energy spectrum search based on the parameterized search matrix comprises:

[0019] Based on a pre-constructed velocity relationship of the moving object in the target water area relative to the passive sonar, a parameterized search matrix corresponding to each underwater acoustic frequency domain signal segment is constructed; wherein the parameterized search matrix comprises a frequency search range parameter, a target velocity search range parameter and an equivalent initial frequency.

[0020] performing a joint search of velocity and frequency on each of the underwater acoustic frequency domain signal segments based on the parameterized search matrix to perform wideband spectral peak tracking on each of the underwater acoustic frequency domain signal segments, to determine a target velocity search range corresponding to each of the underwater acoustic frequency domain signal segments;

[0021] constructing an energy-like spectrum search matrix based on the target velocity search range;

[0022] performing energy-like spectrum search on each of the underwater acoustic frequency domain signal segments based on the energy-like spectrum search matrix, to determine a motion compensation parameter corresponding to each of the underwater acoustic frequency domain signal segments.

[0023] Further, the performing phase compensation on each frequency point in the underwater acoustic frequency domain signal segment based on the motion compensation parameter to obtain a compensated frequency domain signal segment corresponding to each of the underwater acoustic frequency domain signal segments, comprises:

[0024] jointly reconstructing each frequency point in each of the underwater acoustic frequency domain signal segments and a phase corresponding to each of the frequency points, to determine a frequency domain data space matrix and a compensation operator matrix corresponding to each of the underwater acoustic frequency domain signal segments;

[0025] determining a phase compensation result corresponding to each of the underwater acoustic frequency domain signal segments based on the motion compensation parameter, using the frequency domain data space matrix and the compensation operator matrix respectively;

[0026] performing phase compensation on each frequency point in the underwater acoustic frequency domain signal segment based on the phase compensation result, to obtain a compensated frequency domain signal segment corresponding to each of the underwater acoustic frequency domain signal segments.

[0027] Further, the jointly reconstructing each frequency point in each of the underwater acoustic frequency domain signal segments and a phase corresponding to each of the frequency points, to determine a frequency domain data space matrix and a compensation operator matrix corresponding to each of the underwater acoustic frequency domain signal segments, comprises:

[0028] jointly reconstructing each frequency point in each of the underwater acoustic frequency domain signal segments and a phase corresponding to each of the frequency points, to construct a motion compensation model corresponding to the underwater acoustic frequency domain signal segment;

[0029] performing frequency search range-based discrete Fourier transform on the parameterized search matrix based on the motion compensation model, to obtain a frequency search matrix;

[0030] decomposing the frequency search matrix according to the frequency search range, to obtain a velocity matching space matrix;

[0031] Based on the speed matching space matrix, a frequency domain data space matrix and a compensation operator matrix corresponding to each of the underwater acoustic frequency domain signal segments are determined.

[0032] Further, based on the motion compensation parameters, the frequency domain data space matrix and the compensation operator matrix are used to respectively determine a corresponding phase compensation result of each of the underwater acoustic frequency domain signal segments.

[0033] The number of motion objects corresponding to each of the underwater acoustic frequency domain signal segments is determined.

[0034] For the single number of motion objects, based on the motion compensation parameters, the frequency domain data space matrix and the compensation operator matrix are used to respectively determine a first phase compensation result of each of the underwater acoustic frequency domain signal segments.

[0035] For the multiple number of motion objects, based on the motion compensation parameters, the frequency domain data space matrix and the compensation operator matrix are used to respectively determine a second phase compensation result of each of the underwater acoustic frequency domain signal segments.

[0036] Embodiments of the present application also provide a motion compensation device for passive sonar detection, the motion compensation device comprising:

[0037] A signal acquisition module is configured to acquire underwater acoustic signals collected by a passive sonar in real time for motion objects in a target water area within a preset period.

[0038] A segmentation transformation module is configured to perform segmentation processing on the underwater acoustic signals to obtain a plurality of underwater acoustic time domain signal segments, and perform Fourier transform on each of the underwater acoustic time domain signal segments to obtain an underwater acoustic frequency domain signal segment corresponding to each of the underwater acoustic time domain signal segments.

[0039] A motion compensation module is configured to construct a parameterized search matrix corresponding to each of the underwater acoustic frequency domain signal segments, and determine motion compensation parameters corresponding to each of the underwater acoustic frequency domain signal segments through energy spectrum search based on the parameterized search matrix.

[0040] A phase compensation module is configured to perform phase compensation on each frequency point in the underwater acoustic frequency domain signal segment based on the motion compensation parameters to obtain a compensation frequency domain signal segment corresponding to each of the underwater acoustic frequency domain signal segments.

[0041] A signal compensation module is configured to perform inverse discrete Fourier transform on the compensation frequency domain signal segment to obtain a compensation time domain signal segment corresponding to each of the underwater acoustic time domain signal segments, so as to determine a long-time coherent integration result corresponding to the underwater acoustic signals.

[0042] Further, the segment conversion module is configured to:

[0043] acquire the amplitude value and the length value corresponding to the underwater acoustic signal, and determine a polynomial underwater acoustic signal corresponding to each sampling time in a preset period based on the amplitude value, the length value, and a preset phase signal coefficient;

[0044] segment the polynomial underwater acoustic signal according to a preset segment data amount, to determine a time interval and non-overlapping data corresponding to each polynomial underwater acoustic signal;

[0045] based on the time interval and the non-overlapping data, determine an underwater acoustic time domain signal segment corresponding to each polynomial underwater acoustic signal by using a preset rectangular window function, to obtain a plurality of underwater acoustic time domain signal segments.

[0046] Further, the segment conversion module is configured to:

[0047] determine a frequency variation range corresponding to each underwater acoustic frequency domain signal segment based on an initial constant frequency corresponding to each underwater acoustic frequency domain signal segment;

[0048] perform Fourier transform on each underwater acoustic time domain signal segment to obtain an underwater acoustic frequency domain signal segment corresponding to each underwater acoustic time domain signal segment; wherein the frequency variation range corresponding to each underwater acoustic frequency domain signal segment is greater than or equal to a calibration frequency variation range.

[0049] Further, the motion compensation module is configured to:

[0050] construct a parameterized search matrix corresponding to each underwater acoustic frequency domain signal segment based on a preset velocity relationship of the moving object in the target water area relative to the passive sonar, and determine a motion compensation parameter corresponding to each underwater acoustic frequency domain signal segment by energy spectrum search based on the parameterized search matrix; wherein the parameterized search matrix includes a frequency search range parameter, a target velocity search range parameter, and an equivalent initial frequency;

[0051] perform joint search of velocity and frequency on each underwater acoustic frequency domain signal segment based on the parameterized search matrix, to perform wideband spectrum peak tracking on each underwater acoustic frequency domain signal segment, and determine a target velocity search range corresponding to each underwater acoustic frequency domain signal segment;

[0052] construct a pseudo energy spectrum search matrix based on the target speed search range;

[0053] perform a pseudo energy spectrum search on each of the underwater acoustic frequency domain signal segments based on the pseudo energy spectrum search matrix to determine a motion compensation parameter corresponding to each of the underwater acoustic frequency domain signal segments.

[0054] Further, when the phase compensation module is used to perform phase compensation on each frequency point in each of the underwater acoustic frequency domain signal segments based on the motion compensation parameter to obtain a compensated frequency domain signal segment corresponding to each of the underwater acoustic frequency domain signal segments, the phase compensation module is used to:

[0055] jointly reconstruct each frequency point in each of the underwater acoustic frequency domain signal segments and a phase corresponding to each of the frequency points to determine a frequency domain data space matrix and a compensation operator matrix corresponding to each of the underwater acoustic frequency domain signal segments;

[0056] based on the motion compensation parameter, respectively determine a phase compensation result corresponding to each of the underwater acoustic frequency domain signal segments by using the frequency domain data space matrix and the compensation operator matrix;

[0057] perform phase compensation on each frequency point in the underwater acoustic frequency domain signal segments based on the phase compensation result to obtain a compensated frequency domain signal segment corresponding to each of the underwater acoustic frequency domain signal segments.

[0058] Further, when the phase compensation module is used to jointly reconstruct each frequency point in each of the underwater acoustic frequency domain signal segments and a phase corresponding to each of the frequency points to determine a frequency domain data space matrix and a compensation operator matrix corresponding to each of the underwater acoustic frequency domain signal segments, the phase compensation module is used to:

[0059] jointly reconstruct each frequency point in each of the underwater acoustic frequency domain signal segments and a phase corresponding to each of the frequency points to construct a motion compensation model corresponding to the underwater acoustic frequency domain signal segments;

[0060] perform a frequency-based discrete Fourier transform on the parameterized search matrix based on the motion compensation model to obtain a frequency search matrix;

[0061] decompose the frequency search matrix according to the frequency search range to obtain a speed matching space matrix;

[0062] based on the speed matching space matrix, determine a frequency domain data space matrix and a compensation operator matrix corresponding to each of the underwater acoustic frequency domain signal segments.

[0063] Further, when the phase compensation module is used to correspondingly determine a phase compensation result of each of the underwater acoustic frequency domain signal segments based on the motion compensation parameter, by using the frequency domain data space matrix and the compensation operator matrix respectively, the phase compensation module is used for:

[0064] determining the number of the motion objects corresponding to each of the underwater acoustic frequency domain signal segments;

[0065] for the motion object with the number of one, correspondingly determining a first phase compensation result of each of the underwater acoustic frequency domain signal segments based on the motion compensation parameter, by using the frequency domain data space matrix and the compensation operator matrix respectively;

[0066] for the motion objects with the number of more than one, correspondingly determining a second phase compensation result of each of the underwater acoustic frequency domain signal segments based on the motion compensation parameter, by using the frequency domain data space matrix and the compensation operator matrix respectively.

[0067] Embodiments of the present application also provide an electronic device, comprising a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, and the machine readable instructions are executed by the processor to perform the steps of the motion compensation method for passive sonar detection as described above.

[0068] Embodiments of the present application also provide a computer readable storage medium, the computer readable storage medium stores a computer program, when the computer program is run by a processor, the steps of the motion compensation method for passive sonar detection as described above are performed.

[0069] The motion compensation method and device for passive sonar detection provided by the embodiments of the present application, the compensation method comprises: acquiring underwater acoustic signals collected by a passive sonar in real time for motion objects in a target water area within a preset period; segmenting the underwater acoustic signals to obtain a plurality of underwater acoustic time domain signal segments, and performing Fourier transform on each of the underwater acoustic time domain signal segments to obtain an underwater acoustic frequency domain signal segment corresponding to each of the underwater acoustic time domain signal segments; constructing a parameterized search matrix corresponding to each of the underwater acoustic frequency domain signal segments, and determining motion compensation parameters corresponding to each of the underwater acoustic frequency domain signal segments through energy spectrum search based on the parameterized search matrix; based on the motion compensation parameters, performing phase compensation on each frequency point in the underwater acoustic frequency domain signal segment to obtain a compensation frequency domain signal segment corresponding to each of the underwater acoustic frequency domain signal segments; and performing inverse discrete Fourier transform on the compensation frequency domain signal segment to obtain a compensation time domain signal segment corresponding to each of the underwater acoustic time domain signal segments, so as to determine a long-time coherent integration result corresponding to the underwater acoustic signal.

[0070] Compared with the autoregressive moving average frequency estimation method based on the parameterized model in the prior art, by segmenting and performing Fourier transform on the underwater acoustic signals collected by the passive sonar in real time for the moving object in the preset period in the target water area, a plurality of underwater acoustic frequency domain signal segments are obtained, and by performing wideband spectrum peak tracking on each underwater acoustic frequency domain signal segment through the constraint of search frequency and search speed, the motion compensation parameter is determined through the energy spectrum search, so that the convergence speed is fast and the calculation complexity is low, the long-time coherent integration result is obtained while the motion compensated underwater acoustic time domain signal is obtained, the gain of the passive sonar detection processing under the condition of low signal-to-noise ratio is improved, and the accuracy and stability of the passive sonar detection are improved.

[0071] In order to make the above objectives, characteristics and advantages of the present application more apparent, clear and easy to understand, the following will specifically describe a preferred embodiment, and the accompanying drawings will be described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0072] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0073] Figure 1 A flow chart of a passive sonar detection motion compensation method provided by the embodiments of the present application;

[0074] Figure 2 A comparison example diagram of low frequency analysis and recording of underwater acoustic signals provided by the embodiments of the present application;

[0075] Figure 3 A comparison example diagram of underwater acoustic signal line spectrum provided by the embodiments of the present application;

[0076] Figure 4 A structural schematic diagram of a passive sonar detection motion compensation device provided by the embodiments of the present application;

[0077] Figure 5 A structural schematic diagram of an electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0078] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application and not all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by a person skilled in the art without creative work belongs to the scope of protection of the present application.

[0079] It is found through research that passive sonar detection technology realizes concealed detection by receiving noise radiated by a target moving object, and the detection performance of the passive sonar is limited by the influence of signal accumulation time and Doppler effect. In an actual scene, a target moving object causes time delay spread and Doppler frequency shift of the generated signal, which destroys the phase coherence of the signal, and a traditional long-time coherent integration method (for example, a periodogram method) significantly reduces the integration gain of the signal.

[0080] At present, an autoregressive moving average frequency estimation method based on a parameterized model can compensate the Doppler effect by estimating the motion parameters of a target moving object. Although a good processing gain can be obtained under a high signal-to-noise ratio condition, the error of parameter estimation is large under a low signal-to-noise ratio condition, which reduces the accuracy and stability of passive sonar detection.

[0081] Based on this, the embodiments of the present application provide a motion compensation method for passive sonar detection. The method performs segmentation and Fourier transform on underwater acoustic signals collected in real time by a passive sonar in a preset period for a moving object in a target water area, obtains a plurality of underwater acoustic frequency domain signal segments, performs wideband spectrum peak tracking on each underwater acoustic frequency domain signal segment by constraining the search frequency and search speed of each underwater acoustic frequency domain signal segment, and then determines a motion compensation parameter through energy-like spectrum search, so as to have the effects of fast convergence speed and low calculation complexity. The method obtains a long-time coherent integration result at the same time as obtaining a motion-compensated underwater acoustic time domain signal, realizes the gain improvement of passive sonar detection processing under a low signal-to-noise ratio condition, and improves the accuracy and stability of passive sonar detection.

[0082] Reference is made to Figure 1 , Figure 1 A flowchart of a motion compensation method for passive sonar detection provided by the embodiments of the present application. As shown in Figure 1 , the motion compensation method for passive sonar detection provided by the embodiments of the present application includes the following steps.

[0083] S101, acquire the underwater acoustic signal collected by the passive sonar in real time for the moving object in the target water area in a preset period.

[0084] It should be noted that the passive sonar is an important detection device in underwater acoustic engineering, which does not actively emit sound waves, but receives the noise (for example, mechanical noise, propeller noise and fluid dynamic noise) radiated by the target itself in water, extracts the target direction, type, speed, distance and other information, and realizes the covert detection of the target.

[0085] In the embodiment of the application, the passive sonar is arranged in the target water area, and the passive sonar realizes the detection of the moving object in the target water area by receiving the noise radiated by the target moving object in a preset period, to obtain the underwater acoustic signal corresponding to the moving object in the preset period.

[0086] Here, the moving object in the target water area can be one or more.

[0087] S102, segmenting the underwater acoustic signal to obtain a plurality of underwater acoustic time domain signal segments, and performing Fourier transform on each underwater acoustic time domain signal segment to obtain an underwater acoustic frequency domain signal segment corresponding to each underwater acoustic time domain signal segment.

[0088] In the embodiment of the application, in order to focus on the passive sonar detection underwater, the coherent gain is obtained by frequency domain long-time integration, and the target is accurately detected, therefore, it is necessary to segment the underwater acoustic time domain signal and obtain the underwater acoustic frequency domain signal segment by Fourier transform.

[0089] In one implementation manner of the application, in the specific implementation, the step of segmenting the underwater acoustic signal in step S102 to obtain a plurality of underwater acoustic time domain signal segments can include:

[0090] S1021, acquiring the amplitude value and length value corresponding to the underwater acoustic signal, and determining the polynomial underwater acoustic signal corresponding to each sampling time in the preset period based on the amplitude value, the length value and the preset phase signal coefficient.

[0091] In the embodiment of the application, the underwater acoustic signal can be approximated as a polynomial underwater acoustic signal, and the expression corresponding to the polynomial underwater acoustic signal is as follows.

[0092] .

[0093] wherein, represents the polynomial underwater acoustic signal corresponding to each sampling time; represents the amplitude value corresponding to the underwater acoustic signal; represents the length value corresponding to the underwater acoustic signal; and This represents the preset phase signal coefficients. .

[0094] Here, due to the Doppler effect, based on the polynomial underwater acoustic signal corresponding to each sampling time, it can be determined that the received underwater acoustic signal is non-stationary and time-varying.

[0095] S1022. The polynomial underwater acoustic signal is segmented according to a preset segmented data volume to determine the time interval and non-overlapping data corresponding to each polynomial underwater acoustic signal.

[0096] Here, in order to reduce the sensitivity of the frequency resolution unit to Doppler frequency shift, the polynomial underwater acoustic signal is segmented.

[0097] In this step, before obtaining each underwater acoustic time-domain signal segment through segmentation, the polynomial underwater acoustic signal needs to be segmented according to the preset segmentation data volume, and the time interval and non-overlapping data between each polynomial underwater acoustic signal need to be determined during the segmentation process.

[0098] Among them, non-overlapping data means that each segment of underwater acoustic signal is connected end to end with no repeated sampling points; the time interval represents the product between the sampling interval and the number of sampling points.

[0099] S1023. Based on the time interval and the non-overlapping data, a preset rectangular window function is used to determine the underwater acoustic time domain signal segment corresponding to each of the polynomial underwater acoustic signals, so as to obtain multiple underwater acoustic time domain signal segments.

[0100] In this embodiment of the application, the expression for the underwater acoustic time-domain signal segment is as follows.

[0101] .

[0102] in, Indicates the first One underwater acoustic time-domain signal segment, Indicates the number of time-domain signal segments in underwater acoustics. This represents the length of each underwater acoustic time-domain signal segment, that is, the number of sampling points in the underwater acoustic time-domain signal segment; Represents a rectangular window function; Indicates non-overlapping data; Indicates the first The time interval of each underwater acoustic time-domain signal segment; and This represents the preset phase signal coefficients.

[0103] In one possible implementation of this application, in specific implementation, the step S102 of performing a Fourier transform on each of the underwater acoustic time-domain signal segments to obtain the underwater acoustic frequency-domain signal segment corresponding to each of the underwater acoustic time-domain signal segments may include:

[0104] S1024, determine the frequency variation range corresponding to each of the underwater acoustic frequency domain signal segments based on the initial constant frequency corresponding to each of the underwater acoustic frequency domain signal segments.

[0105] In the embodiments of the present application, the expression of the initial constant frequency corresponding to each of the underwater acoustic frequency domain signal segments is as follows.

[0106] .

[0107] wherein, denotes the initial constant frequency corresponding to the i-th underwater acoustic frequency domain signal segment; denotes the initial constant frequency corresponding to the i-th underwater acoustic frequency domain signal segment; denotes the time interval of each underwater acoustic frequency domain signal segment; and denotes the preset phase signal coefficient; denotes the non-overlapping data.

[0108] In the embodiments of the present application, the expression of the frequency variation range corresponding to each of the underwater acoustic frequency domain signal segments is as follows.

[0109] .

[0110] wherein, denotes the frequency variation range corresponding to each of the underwater acoustic frequency domain signal segments, denotes the discrete frequency index; denotes the length of each underwater acoustic frequency domain signal segment; denotes the time interval of each underwater acoustic frequency domain signal segment.

[0111] S1025, perform Fourier transform on each of the underwater acoustic time domain signal segments to obtain an underwater acoustic frequency domain signal segment corresponding to each of the underwater acoustic time domain signal segments.

[0112] In the embodiments of the present application, the first expression of Fourier transform is as follows.

[0113] .

[0114] Further, the second expression of Fourier transform determined based on the first expression of Fourier transform is as follows.

[0115] .

[0116] wherein, denotes the i-th underwater acoustic frequency domain signal segment; denotes the i-th underwater acoustic frequency domain signal segment; denotes the length of each underwater acoustic frequency domain signal segment; denotes the frequency variation range corresponding to each of the underwater acoustic frequency domain signal segments; represents an amplitude value corresponding to a water acoustic signal; represents non-overlapping data; represents a time interval of a th water acoustic frequency domain signal segment; and represents a preset phase signal coefficient; represents a th sampling point in a water acoustic frequency domain signal segment; represents a sum of high powers.

[0117] Each of the water acoustic frequency domain signal segments corresponds to a frequency variation range greater than or equal to a calibration frequency variation range, and the corresponding expression is as follows.

[0118] .

[0119] wherein, represents a frequency resolution, that is, a frequency approximately remains constant within each water acoustic frequency domain signal segment; and represents a preset phase signal coefficient; represents a length of each water acoustic frequency domain signal segment; represents a time interval of each water acoustic frequency domain signal segment.

[0120] S103, constructing a parameterized search matrix corresponding to each of the water acoustic frequency domain signal segments, and determining a motion compensation parameter corresponding to each of the water acoustic frequency domain signal segments through a class energy spectrum search based on the parameterized search matrix.

[0121] In the embodiments of the present application, by constraining the search frequency and the search speed, spectrum peak tracking is performed in the water acoustic frequency domain signal segment, and the motion compensation parameter is obtained through a class energy spectrum search, which has a faster convergence speed and a lower calculation complexity, and enhances the effectiveness of compensation under the dual search of frequency points and phases.

[0122] In one implementable manner of the present application, in specific implementation, step S103 can include:

[0123] S1031, constructing a parameterized search matrix corresponding to each of the water acoustic frequency domain signal segments based on a pre-constructed speed relationship of the moving object in the target water area relative to the passive sonar.

[0124] The parameterized search matrix includes a frequency search range parameter, a target speed search range parameter, and an equivalent initial frequency.

[0125] Here, in practical applications, when the underwater moving object moves in the far field, the corresponding velocity relationship of the moving object in the target water area relative to the passive sonar is constructed in advance, and the expression of the velocity relationship is as follows.

[0126] 。

[0127] wherein, represents the moving speed value of the moving object; represents the initial distance value between the moving object and the passive sonar; represents the target azimuth angle between the moving object and the passive sonar; represents the signal sampling time.

[0128] Further, based on the above velocity relationship, it can be determined that the change of the instantaneous Doppler shift is approximately linear.

[0129] In the embodiments of the present application, the expression of the parameterized search matrix corresponding to each underwater acoustic frequency domain signal segment is as follows.

[0130] .

[0131] wherein, represents the parameterized search matrix, represents the frequency search range parameter, represents the target velocity search range parameter, represents the equivalent initial frequency; represents the joint search of frequency and velocity of the underwater acoustic frequency domain signal segment; represents the linear phase compensation of the underwater acoustic frequency domain signal segment.

[0132] S1032, based on the parameterized search matrix, performing joint search of velocity and frequency on each underwater acoustic frequency domain signal segment to perform wideband spectral peak tracking on each underwater acoustic frequency domain signal segment, and determining the target velocity search range corresponding to each underwater acoustic frequency domain signal segment.

[0133] In the embodiments of the present application, the joint search of velocity and frequency is performed on each underwater acoustic frequency domain signal segment to perform wideband spectral peak tracking on each underwater acoustic frequency domain signal segment, and the setting form of the frequency search range parameter, the target velocity search range parameter and the equivalent initial frequency in the parameterized search matrix is determined, and then the target velocity search range corresponding to each underwater acoustic frequency domain signal segment is determined.

[0134] Here, the setting form of the search parameters in the parameterized search matrix is as follows.

[0135] .

[0136] wherein, a number of frequency search range parameters, a number of target velocity search range parameters, a number of equivalent initial frequencies; a frequency search range; a target velocity search range, a range of equivalent initial frequencies; is a search interval of the target velocity search range parameter, is a search interval of the equivalent initial frequency.

[0137] S1033, constructing a quasi-energy spectrum search matrix based on the target velocity search range.

[0138] In this step, after the joint search of velocity and frequency, that is, through the cross-frequency shift correction and the compensation of linear phase difference, a quasi-energy spectrum search matrix can be constructed based on the target velocity search range.

[0139] Here, the cross-frequency shift correction is the matching between the frequency search range and the target velocity search range, and the compensation of linear phase difference is the matching between the target velocity search range and the initial frequency range.

[0140] In the embodiments of the present application, the expression of the quasi-energy spectrum search matrix is as follows.

[0141] .

[0142] wherein, denotes a quasi-energy spectrum search matrix; denotes a motion compensation parameter.

[0143] Here, the motion compensation parameter represents the velocity search parameter when matching the Doppler shift of the moving object.

[0144] S1034, performing quasi-energy spectrum search on each of the underwater acoustic frequency domain signal segments based on the quasi-energy spectrum search matrix to determine the motion compensation parameter corresponding to each of the underwater acoustic frequency domain signal segments.

[0145] In this step, the quasi-energy spectrum search matrix is used to perform quasi-energy spectrum search on each of the underwater acoustic frequency domain signal segments to determine the motion compensation parameter corresponding to each of the underwater acoustic frequency domain signal segments.

[0146] Further, based on the motion compensation parameter corresponding to each of the underwater acoustic frequency domain signal segments, a linear compensation vector corresponding to each of the underwater acoustic frequency domain signal segments is determined to realize the coherent accumulation of the energy of the passive sonar received signal in the parameterized search matrix.

[0147] S104, phase compensation is performed on each frequency point in the underwater acoustic frequency domain signal segment based on the motion compensation parameter, to obtain a corresponding compensation frequency domain signal segment of each underwater acoustic frequency domain signal segment.

[0148] In an implementation of the present application, in specific implementation, step S104 can include:

[0149] S1041, each frequency point in each underwater acoustic frequency domain signal segment and the phase corresponding to each frequency point are jointly reconstructed to determine a frequency domain data space matrix and a compensation operator matrix corresponding to each underwater acoustic frequency domain signal segment.

[0150] In an implementation of the present application, in specific implementation, step S1041 can include:

[0151] S10411, each frequency point in each underwater acoustic frequency domain signal segment and the phase corresponding to each frequency point are jointly reconstructed to construct a motion compensation model corresponding to the underwater acoustic frequency domain signal segment.

[0152] In an embodiment of the present application, the expression of the motion compensation model is as follows.

[0153] .

[0154] wherein, denotes a parameterized search matrix, denotes a frequency search range parameter, denotes a target velocity search range parameter, denotes an equivalent initial frequency; denotes a frequency search matrix; denotes the total number of parameters; denotes an angular frequency value of the passive sonar.

[0155] S10412, based on the motion compensation model, a discrete Fourier transform based on the frequency search range is performed on the parameterized search matrix to obtain a frequency search matrix.

[0156] In an implementation of the present application, the discrete Fourier transform based on the frequency search range is performed on the parameterized search matrix, and the expression of the frequency search range is as follows.

[0157] .

[0158] wherein, denotes a frequency search range; denotes the number of frequency search range parameters; denotes the length of each underwater acoustic frequency domain signal segment; denotes the time interval of each underwater acoustic frequency domain signal segment.

[0159] Furthermore, the expression for the frequency search matrix is ​​shown below.

[0160] .

[0161] in, Represents the frequency search matrix; Indicates the frequency search term; This indicates the number of parameters for the frequency search range.

[0162] S10413. Decompose the frequency search matrix according to the frequency search range to obtain the velocity matching space matrix.

[0163] In this application, the expression for the velocity matching space matrix obtained by decomposing the frequency search matrix according to the frequency search range is shown below.

[0164] .

[0165] in, Represents the velocity matching space matrix; Represents the frequency domain data space matrix; Represents the compensation operator matrix; This indicates the number of parameters for the target velocity search range.

[0166] S10414. Based on the velocity matching space matrix, determine the frequency domain data space matrix and compensation operator matrix corresponding to each underwater acoustic frequency domain signal segment.

[0167] In this application, the expression for the frequency domain data space matrix corresponding to each underwater acoustic frequency domain signal segment is as follows.

[0168] .

[0169] in, Indicates the first The frequency domain data space matrix corresponding to each underwater acoustic frequency domain signal segment; Indicates the frequency search range.

[0170] In this application, the expression for the compensation operator matrix corresponding to each underwater acoustic frequency domain signal segment is shown below.

[0171] .

[0172] in, Indicates the first The compensation operator matrix corresponding to each underwater acoustic frequency domain signal segment; Indicates the target speed search range. Indicates the equivalent initial frequency range; denotes a frequency search range.

[0173] S1042, based on the motion compensation parameter, respectively corresponding to determine each of the corresponding phase compensation results of the underwater acoustic frequency domain signal segment by using the frequency domain data space matrix and the compensation operator matrix.

[0174] In an implementation manner of the present application, in specific implementation, step S1042 can include:

[0175] S10421, determine the number of motion objects corresponding to each of the underwater acoustic frequency domain signal segments.

[0176] In the embodiment of the present application, based on the number of motion objects corresponding to each of the underwater acoustic frequency domain signal segments being one or more, the corresponding phase compensation result is determined.

[0177] S10422, for the number of motion objects being single, based on the motion compensation parameter, respectively corresponding to determine each of the corresponding first phase compensation results of the underwater acoustic frequency domain signal segment by using the frequency domain data space matrix and the compensation operator matrix.

[0178] In the embodiment of the present application, the expression of the first phase compensation result is as follows.

[0179] .

[0180] wherein, denotes the first phase compensation result; denotes the motion compensation parameter; denotes the number of underwater acoustic frequency domain signal segments; denotes the frequency search range parameter, denotes the equivalent initial frequency.

[0181] S10423, for the number of motion objects being multiple, based on the motion compensation parameter, respectively corresponding to determine each of the corresponding second phase compensation results of the underwater acoustic frequency domain signal segment by using the frequency domain data space matrix and the compensation operator matrix.

[0182] In the embodiment of the present application, the expression of the second phase compensation result is as follows.

[0183] .

[0184] wherein, denotes the second phase compensation result; denotes the motion compensation parameter; denotes the number of underwater acoustic frequency domain signal segments; denotes the frequency search range parameter, denotes the equivalent initial frequency.

[0185] S1043, phase compensation is performed on each frequency point in the underwater acoustic frequency domain signal segment based on the phase compensation result, to obtain a compensation frequency domain signal segment corresponding to each of the underwater acoustic frequency domain signal segments.

[0186] Here, based on the phase compensation result, phase compensation is performed on each frequency point in the underwater acoustic frequency domain signal segment, so that all parameter information in the parameterized search matrix is considered, and the characteristics of each parameter can be retained, to obtain a compensation frequency domain signal segment corresponding to each of the underwater acoustic frequency domain signal segments.

[0187] S105, inverse discrete Fourier transform is performed on the compensation frequency domain signal segment, to obtain a compensation time domain signal segment corresponding to each of the underwater acoustic time domain signal segments, to determine a long-time coherent integration result corresponding to the underwater acoustic signal.

[0188] In the embodiments of the present application, based on the known motion compensation parameters, phase compensation is performed on all frequency points in each underwater acoustic frequency domain signal segment, and inverse discrete Fourier transform is performed on each frame of signal in a conjugate symmetry manner, so that not only a compensation time domain signal segment after motion compensation is obtained, but also a long-time coherent integration result is output, thereby achieving gain improvement of passive sonar detection processing under a low signal-to-noise ratio condition.

[0189] For example, simulation tests are performed on the compensation effect of the embodiments of the present application, a signal model of a single passive sonar receiving a linear target moving at a constant speed from a passive system is established under the condition that the signal-to-noise ratio is-27 dB, the sampling frequency is 5000 Hz, and the speed of the moving object is 3 m / s, it is assumed that a target moving object moves along a straight line at a constant speed, the initial distance between the target moving object and the receiver of the passive sonar is 1500 m, the included angle between the target moving object and the receiver of the passive sonar relative to the moving direction of the passive sonar is 85°, and the sound speed in water is 1500 m / s, and comparison tests are performed under this simulation condition.

[0190] Please refer to Figure 2 , Figure 3 , Figure 2 FIG. 1 is a comparison example diagram of low-frequency analysis and recording of an underwater acoustic signal provided by the embodiments of the present application, Figure 3 FIG. 2 is a comparison example diagram of a line spectrum of an underwater acoustic signal provided by the embodiments of the present application.

[0191] As shown in Figure 2 , comparison of the low-frequency analysis and recording of the underwater acoustic time domain signals before and after compensation shows that the embodiments of the present application not only obtain underwater acoustic time domain signals after motion compensation, but also output a long-time coherent integration result, thereby achieving gain improvement of passive sonar detection processing under a low signal-to-noise ratio condition.

[0192] As shown in Figure 3As shown in the signal spectrum comparison of the water acoustic time domain signals before and after compensation, the embodiment of the application improves the accuracy and stability of passive sonar detection after compensating the water acoustic signals.

[0193] The motion compensation method for passive sonar detection provided by the embodiment of the application has the effects of faster convergence speed and lower calculation complexity, obtains the long-time coherent integration result of the water acoustic time domain signal after motion compensation, and improves the gain of passive sonar detection processing under the condition of low signal-to-noise ratio, thereby improving the accuracy and stability of passive sonar detection.

[0194] Please refer to Figure 4 , Figure 4 FIG. 1 is a structural schematic diagram of a motion compensation device for passive sonar detection provided by the embodiment of the application. As shown in FIG. 1, the motion compensation device 400 includes: Figure 4

[0195] The signal acquisition module 410 is configured to acquire a water acoustic signal collected by a passive sonar in real time for a moving object in a target water area within a preset period.

[0196] The segmentation and transformation module 420 is configured to perform segmentation processing on the water acoustic signal to obtain a plurality of water acoustic time domain signal segments, and perform Fourier transformation on each water acoustic time domain signal segment to obtain a water acoustic frequency domain signal segment corresponding to each water acoustic time domain signal segment.

[0197] The motion compensation module 430 is configured to construct a parameterized search matrix corresponding to each water acoustic frequency domain signal segment, and determine a motion compensation parameter corresponding to each water acoustic frequency domain signal segment through energy-like spectrum search based on the parameterized search matrix.

[0198] The phase compensation module 440 is configured to perform phase compensation on each frequency point in the water acoustic frequency domain signal segment based on the motion compensation parameter to obtain a compensation frequency domain signal segment corresponding to each water acoustic frequency domain signal segment.

[0199] The signal compensation module 450 is configured to perform inverse discrete Fourier transformation on the compensation frequency domain signal segment to obtain a compensation time domain signal segment corresponding to each water acoustic time domain signal segment, so as to determine a long-time coherent integration result corresponding to the water acoustic signal.

[0200] ​Further, the segment conversion module 420 is configured to:

[0201] acquire the amplitude value and the length value corresponding to the underwater acoustic signal, and determine a polynomial underwater acoustic signal corresponding to each sampling time within a preset period based on the amplitude value, the length value, and a preset phase signal coefficient;

[0202] segment the polynomial underwater acoustic signal according to a preset segment data amount, to determine a time interval and non-overlapping data corresponding to each polynomial underwater acoustic signal;

[0203] based on the time interval and the non-overlapping data, determine an underwater acoustic time domain signal segment corresponding to each polynomial underwater acoustic signal by using a preset rectangular window function, to obtain a plurality of underwater acoustic time domain signal segments.

[0204] Further, the segment conversion module 420 is configured to:

[0205] determine a frequency variation range corresponding to each underwater acoustic frequency domain signal segment based on an initial constant frequency corresponding to each underwater acoustic frequency domain signal segment;

[0206] perform Fourier transform on each underwater acoustic time domain signal segment to obtain an underwater acoustic frequency domain signal segment corresponding to each underwater acoustic time domain signal segment; wherein the frequency variation range corresponding to each underwater acoustic frequency domain signal segment is greater than or equal to a calibration frequency variation range.

[0207] Further, the motion compensation module 430 is configured to:

[0208] construct a parameterized search matrix corresponding to each underwater acoustic frequency domain signal segment based on a preset velocity relationship of the moving object in the target water area relative to the passive sonar, and determine a motion compensation parameter corresponding to each underwater acoustic frequency domain signal segment by energy spectrum search based on the parameterized search matrix; wherein the parameterized search matrix includes a frequency search range parameter, a target velocity search range parameter, and an equivalent initial frequency;

[0209] perform joint search of velocity and frequency on each underwater acoustic frequency domain signal segment based on the parameterized search matrix, to perform wideband spectrum peak tracking on each underwater acoustic frequency domain signal segment, and determine a target velocity search range corresponding to each underwater acoustic frequency domain signal segment;

[0210] construct a quasi-energy spectrum search matrix based on the target speed search range;

[0211] perform quasi-energy spectrum search on each of the underwater acoustic frequency domain signal segments based on the quasi-energy spectrum search matrix to determine the motion compensation parameter corresponding to each of the underwater acoustic frequency domain signal segments.

[0212] Further, when the phase compensation module 440 is configured to perform joint reconstruction on each of the frequency points in each of the underwater acoustic frequency domain signal segments and the phase corresponding to each of the frequency points to determine the frequency domain data space matrix and the compensation operator matrix corresponding to each of the underwater acoustic frequency domain signal segments, the phase compensation module 440 is configured to:

[0213] perform joint reconstruction on each of the frequency points in each of the underwater acoustic frequency domain signal segments and the phase corresponding to each of the frequency points to construct the motion compensation model corresponding to the underwater acoustic frequency domain signal segment;

[0214] determine the frequency domain data space matrix and the compensation operator matrix corresponding to each of the underwater acoustic frequency domain signal segments based on the motion compensation model.

[0215] perform phase compensation on each of the frequency points in the underwater acoustic frequency domain signal segment based on the phase compensation result to obtain the compensated frequency domain signal segment corresponding to each of the underwater acoustic frequency domain signal segments.

[0216] Further, when the phase compensation module 440 is configured to perform joint reconstruction on each of the frequency points in each of the underwater acoustic frequency domain signal segments and the phase corresponding to each of the frequency points to determine the frequency domain data space matrix and the compensation operator matrix corresponding to each of the underwater acoustic frequency domain signal segments, the phase compensation module 440 is configured to:

[0217] perform joint reconstruction on each of the frequency points in each of the underwater acoustic frequency domain signal segments and the phase corresponding to each of the frequency points to construct the motion compensation model corresponding to the underwater acoustic frequency domain signal segment;

[0218] perform discrete Fourier transform on the parameterized search matrix based on the frequency search range based on the motion compensation model to obtain a frequency search matrix;

[0219] decompose the frequency search matrix according to the frequency search range to obtain a speed matching space matrix;

[0220] determine the frequency domain data space matrix and the compensation operator matrix corresponding to each of the underwater acoustic frequency domain signal segments based on the speed matching space matrix.

[0221] Further, the phase compensation module 440 is configured to:

[0222] determine the number of the moving objects corresponding to each of the underwater acoustic frequency domain signal segments;

[0223] for the single moving object, determine a first phase compensation result corresponding to each of the underwater acoustic frequency domain signal segments based on the motion compensation parameter, using the frequency domain data space matrix and the compensation operator matrix respectively;

[0224] for the multiple moving objects, determine a second phase compensation result corresponding to each of the underwater acoustic frequency domain signal segments based on the motion compensation parameter, using the frequency domain data space matrix and the compensation operator matrix respectively.

[0225] The passive sonar detection motion compensation device provided by the embodiment of the application has the effects of faster convergence speed and lower calculation complexity, and can obtain the underwater acoustic time domain signal after motion compensation and the long-time coherent integration result at the same time, thereby achieving the gain improvement of the passive sonar detection processing under the condition of low signal-to-noise ratio and improving the accuracy and stability of the passive sonar detection.

[0226] Please refer to Figure 5 , Figure 5 FIG. 1 is a structural schematic diagram of an electronic device provided by an embodiment of the application. As shown in FIG. 1, the electronic device 500 includes a processor 510, a memory 520 and a bus 530. Figure 5

[0227] The memory 520 stores machine readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 and the memory 520 communicate through the bus 530. The machine readable instructions executed by the processor 510 can perform the steps of the passive sonar detection motion compensation method in the method embodiment shown in the above Figure 1 The specific implementation can be referred to the method embodiment, which will not be described here.

[0228] ​The embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is run by a processor, the computer program can execute the method as described above. Figure 1 The steps of the motion compensation method for passive sonar detection in the method embodiment are specifically implemented as described in the method embodiment, which will not be repeated here.

[0229] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0230] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented by other manners. The device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, devices or units, which can be electrical, mechanical or other forms.

[0231] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0232] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0233] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application essentially or the parts of the prior art that make contributions or parts of the technical solutions can be embodied in the form of software products. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0234] Finally, it should be noted that: the above-described embodiments are only specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can make modifications or easily think of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed by the present application, or make equivalent replacements to some of the technical features. The modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of motion compensation for passive sonar detection, characterized in that, The motion compensation method comprises: acquiring underwater acoustic signals collected by a passive sonar in real time for a moving object in a target water area within a preset period; segmenting the underwater acoustic signals to obtain a plurality of underwater acoustic time-domain signal segments, and performing Fourier transform on each underwater acoustic time-domain signal segment to obtain an underwater acoustic frequency-domain signal segment corresponding to each underwater acoustic time-domain signal segment; constructing a parameterized search matrix corresponding to each underwater acoustic frequency-domain signal segment, and determining a motion compensation parameter corresponding to each underwater acoustic frequency-domain signal segment through energy spectrum search based on the parameterized search matrix; based on the motion compensation parameter, performing phase compensation on each frequency point in the underwater acoustic frequency-domain signal segment to obtain a compensated frequency-domain signal segment corresponding to each underwater acoustic frequency-domain signal segment; the motion compensation parameter, performing phase compensation on each frequency point in the underwater acoustic frequency-domain signal segment to obtain a compensated frequency-domain signal segment corresponding to each underwater acoustic frequency-domain signal segment, comprising: jointly reconstructing each frequency point in each underwater acoustic frequency-domain signal segment and the phase corresponding to each frequency point to determine a frequency-domain data space matrix and a compensation operator matrix corresponding to each underwater acoustic frequency-domain signal segment; based on the motion compensation parameter, the frequency-domain data space matrix and the compensation operator matrix are used to determine the phase compensation result corresponding to each underwater acoustic frequency-domain signal segment respectively; based on the phase compensation result, performing phase compensation on each frequency point in the underwater acoustic frequency-domain signal segment to obtain a compensated frequency-domain signal segment corresponding to each underwater acoustic frequency-domain signal segment; the motion compensation parameter, performing phase compensation on each frequency point in the underwater acoustic frequency-domain signal segment to obtain a compensated frequency-domain signal segment corresponding to each underwater acoustic frequency-domain signal segment, comprising: jointly reconstructing each frequency point in each underwater acoustic frequency-domain signal segment and the phase corresponding to each frequency point to determine a frequency-domain data space matrix and a compensation operator matrix corresponding to each underwater acoustic frequency-domain signal segment; based on the motion compensation model, performing discrete Fourier transform on the parameterized search matrix based on a frequency search range to obtain a frequency search matrix; decomposing the frequency search matrix according to the frequency search range to obtain a velocity matching space matrix; based on the velocity matching space matrix, determining a frequency-domain data space matrix and a compensation operator matrix corresponding to each underwater acoustic frequency-domain signal segment; the motion compensation parameter, the frequency-domain data space matrix and the compensation operator matrix are used to determine the phase compensation result corresponding to each underwater acoustic frequency-domain signal segment respectively, comprising: determining the number of the moving object corresponding to each underwater acoustic frequency-domain signal segment; for the moving object with the number of one, based on the motion compensation parameter, the frequency-domain data space matrix and the compensation operator matrix are used to determine a first phase compensation result corresponding to each underwater acoustic frequency-domain signal segment respectively; For the plurality of the moving objects, based on the motion compensation parameter, the frequency domain data space matrix and the compensation operator matrix are used to respectively determine a second phase compensation result corresponding to each of the underwater acoustic frequency domain signal segments; Inverse discrete Fourier transform is performed on the compensation frequency domain signal segment to obtain a compensation time domain signal segment corresponding to each of the underwater acoustic time domain signal segments, so as to determine a long-time coherent integration result corresponding to the underwater acoustic signal.

2. The method of claim 1, wherein, The segmenting processing of the underwater acoustic signal to obtain a plurality of underwater acoustic time domain signal segments comprises: obtaining an amplitude value and a length value corresponding to the underwater acoustic signal, and determining a polynomial underwater acoustic signal corresponding to each sampling time within a preset period based on the amplitude value, the length value and a preset phase signal coefficient; segmenting processing the polynomial underwater acoustic signal according to a preset segment data amount to determine a time interval and non-overlapping data corresponding to each of the polynomial underwater acoustic signals; based on the time interval and the non-overlapping data, using a preset rectangular window function to determine an underwater acoustic time domain signal segment corresponding to each of the polynomial underwater acoustic signals, so as to obtain a plurality of underwater acoustic time domain signal segments.

3. The method of claim 1, wherein, The Fourier transform of each of the underwater acoustic time domain signal segments to obtain an underwater acoustic frequency domain signal segment corresponding to each of the underwater acoustic time domain signal segments comprises: determining a frequency variation range corresponding to each of the underwater acoustic frequency domain signal segments based on an initial constant frequency corresponding to each of the underwater acoustic frequency domain signal segments; performing Fourier transform on each of the underwater acoustic time domain signal segments to obtain an underwater acoustic frequency domain signal segment corresponding to each of the underwater acoustic time domain signal segments; wherein the frequency variation range corresponding to each of the underwater acoustic frequency domain signal segments is greater than or equal to a calibration frequency variation range.

4. The method of claim 1, wherein, The construction of a parameterized search matrix corresponding to each of the underwater acoustic frequency domain signal segments and the determination of a motion compensation parameter corresponding to each of the underwater acoustic frequency domain signal segments based on the parameterized search matrix through energy-like spectrum search comprises: based on a pre-constructed velocity relationship of the moving object relative to the passive sonar in the target water area, a parameterized search matrix corresponding to each of the underwater acoustic frequency domain signal segments is constructed; wherein the parameterized search matrix comprises a frequency search range parameter, a target velocity search range parameter and an equivalent initial frequency; based on the parameterized search matrix, joint search of velocity and frequency is performed on each of the underwater acoustic frequency domain signal segments to perform wideband spectrum peak tracking on each of the underwater acoustic frequency domain signal segments to determine a target velocity search range corresponding to each of the underwater acoustic frequency domain signal segments; based on the target velocity search range, an energy-like spectrum search matrix is constructed; based on the energy-like spectrum search matrix, energy-like spectrum search is performed on each of the underwater acoustic frequency domain signal segments to determine a motion compensation parameter corresponding to each of the underwater acoustic frequency domain signal segments.

5. A motion compensation device for passive sonar detection, characterized in that, The motion compensation device comprises: a signal acquisition module configured to acquire an underwater acoustic signal collected by a passive sonar in real time for a moving object in a target water area within a preset period; a segmenting and transforming module, configured to segment the underwater acoustic signal to obtain a plurality of underwater acoustic time-domain signal segments, and perform Fourier transform on each of the underwater acoustic time-domain signal segments to obtain an underwater acoustic frequency-domain signal segment corresponding to each of the underwater acoustic time-domain signal segments; a motion compensation module, configured to construct a parameterized search matrix corresponding to each of the underwater acoustic frequency-domain signal segments, and determine a motion compensation parameter corresponding to each of the underwater acoustic frequency-domain signal segments by energy spectrum search based on the parameterized search matrix; a phase compensation module, configured to perform phase compensation on each frequency point in the underwater acoustic frequency-domain signal segment based on the motion compensation parameter to obtain a compensated frequency-domain signal segment corresponding to each of the underwater acoustic frequency-domain signal segments; when the phase compensation module is configured to perform phase compensation on each frequency point in the underwater acoustic frequency-domain signal segment based on the motion compensation parameter to obtain a compensated frequency-domain signal segment corresponding to each of the underwater acoustic frequency-domain signal segments, the phase compensation module is configured to: jointly reconstruct each frequency point in each of the underwater acoustic frequency-domain signal segments and a phase corresponding to each of the frequency points to determine a frequency-domain data space matrix and a compensation operator matrix corresponding to each of the underwater acoustic frequency-domain signal segments; determine a phase compensation result corresponding to each of the underwater acoustic frequency-domain signal segments by using the frequency-domain data space matrix and the compensation operator matrix respectively based on the motion compensation parameter; perform phase compensation on each frequency point in the underwater acoustic frequency-domain signal segment based on the phase compensation result to obtain a compensated frequency-domain signal segment corresponding to each of the underwater acoustic frequency-domain signal segments; when the phase compensation module is configured to jointly reconstruct each frequency point in each of the underwater acoustic frequency-domain signal segments and a phase corresponding to each of the frequency points to determine a frequency-domain data space matrix and a compensation operator matrix corresponding to each of the underwater acoustic frequency-domain signal segments, the phase compensation module is configured to: jointly reconstruct each frequency point in each of the underwater acoustic frequency-domain signal segments and a phase corresponding to each of the frequency points to construct a motion compensation model corresponding to the underwater acoustic frequency-domain signal segment; perform frequency search range-based discrete Fourier transform on the parameterized search matrix based on the motion compensation model to obtain a frequency search matrix; decompose the frequency search matrix according to the frequency search range to obtain a velocity matching space matrix; determine a frequency-domain data space matrix and a compensation operator matrix corresponding to each of the underwater acoustic frequency-domain signal segments based on the velocity matching space matrix; when the phase compensation module is configured to determine a phase compensation result corresponding to each of the underwater acoustic frequency-domain signal segments by using the frequency-domain data space matrix and the compensation operator matrix respectively based on the motion compensation parameter, the phase compensation module is configured to: determine a number of the moving objects corresponding to each of the underwater acoustic frequency-domain signal segments; for the moving object with the number of one, determine a first phase compensation result corresponding to each of the underwater acoustic frequency-domain signal segments by using the frequency-domain data space matrix and the compensation operator matrix respectively based on the motion compensation parameter; and for the moving object with the number of more than one, determine a second phase compensation result corresponding to each of the underwater acoustic frequency-domain signal segments by using the frequency-domain data space matrix and the compensation operator matrix respectively based on the motion compensation parameter. For the plurality of the moving objects, based on the motion compensation parameters, the frequency domain data space matrix and the compensation operator matrix are respectively used to determine a second phase compensation result corresponding to each of the underwater acoustic frequency domain signal segments; The signal compensation module is configured to perform inverse discrete Fourier transform on the compensation frequency domain signal segments to obtain a compensation time domain signal segment corresponding to each of the underwater acoustic time domain signal segments, so as to determine a long-time coherent integration result corresponding to the underwater acoustic signal.

6. An electronic device, comprising: Comprise: A processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, the machine readable instructions are executed by the processor to execute the steps of the passive sonar detection motion compensation method as claimed in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to execute the steps of the passive sonar detection motion compensation method as claimed in any one of claims 1 to 4.

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