Distributed sound barrier layout optimization method based on minimum estimation error

Abstract

The invention belongs to the technical field of underwater acoustic detection. The invention provides a distributed sound barrier layout optimization method based on a minimum estimation error. According to the embodiment of the invention, constraint conditions such as the number of sound sources and receivers, the laying range and the like are input, and a linear equation set of an observation model is established in combination with a target motion model; taking the equation set coefficient matrix condition number as an optimization index, taking a sonar node position vector as an optimization independent variable, and taking matrix condition number minimization as a principle to establish a system layout objective function; a detection area is gridded to reduce the calculation amount, and a global optimal solution of the position of the sonar node is given in a traversal search mode. According to the method, specific transmitting and receiving configuration is not needed, the target detection precision is practically improved through layout optimization, and higher practicability and flexibility and universality are achieved in application.

Description

TECHNICAL FIELD

[0001] The embodiment of the present disclosure relates to the technical field of underwater acoustic detection, and in particular to a distributed sound barrier layout optimization method based on minimum estimation error. BACKGROUND

[0002] When a moving target in the sea passes near the connecting line between the sound source and the receiver of the transmitting-receiving displaced sonar, forward acoustic scattering effect and source-induced internal wave transmission acoustic disturbance will be excited. Therefore, a distributed sound barrier can be constructed by using multiple sound sources and receiving buoys through continuous radiation detection pulses to improve the underwater target early warning detection capability. Optimization of detection range and accuracy is two key targets of underwater target early warning detection. However, due to the complexity of underwater acoustic transmission characteristics, layout range and node quantity restrictions and other factors, the system is difficult to meet all the indicators optimally at the same time, and the layout of the distributed sound barrier is a joint optimization problem under multiple constraints. The traditional layout method often uses an empirical grid layout, that is, each sound source and receiver forms a uniform sound barrier network according to a certain fixed interval. This method has good universality, but too tight or sparse layout will lead to the decline of the system's target state estimation performance, and lacks rigorous theoretical guidance. Some methods also focus on maximizing the coverage range, but lack systematic optimization of target state estimation accuracy. At present, no one has proposed a universal layout optimization method suitable for any multi-transmission multi-reception system according to the state estimation accuracy optimization principle.

[0003] Therefore, it is necessary to improve one or more problems in the related technical solutions described above.

[0004] It should be noted that this part aims to provide background or context for the technical solutions of the present disclosure stated in the claims. The description herein is not admitted to be prior art merely because it is included in this part. SUMMARY

[0005] The purpose of the embodiment of the present disclosure is to provide a distributed sound barrier layout optimization method based on minimum estimation error, thereby at least overcoming one or more problems caused by the limitations and defects of the related art.

[0006] According to the embodiment of the present disclosure, a distributed sound barrier layout optimization method based on minimum estimation error is provided, and the method comprises: According to the number and layout range of the sound sources and the number and layout range of the receivers, a linear equation set of the system observation model is constructed in combination with the target motion model; Taking the positions of the sound sources and the positions of the receivers as optimization independent variables, taking the number of the sound sources and the number of the receivers as optimization constraints, and taking the condition number of the coefficient matrix of the linear equation set as the target, a system layout objective function is established; The search optimization algorithm is used to solve the optimization problem of the objective function to obtain the optimal node position and optimal condition number.

[0007] Further, in the step of constructing the linear equation set of the system observation model according to the number and arrangement range of the sound sources, the number and arrangement range of the receivers, and the target motion model, the step comprises: M sound sources and N receivers are arranged in a predetermined sea area, wherein M≥2 and N≥2; The sound sources periodically emit detection pulses, forming M×N sound barriers between the sound sources and the receivers; According to the positions of the sound sources and the positions of the receivers, a sound barrier equation is constructed; The motion process of the target is modeled as a uniform linear motion with a speed of and a heading of ; The target crosses the first sound barrier at time and position ; Based on the time when the target crosses each sound barrier, a target motion equation is constructed; The target motion state estimation equation set is constructed by combining the sound barrier linear equation and the target motion equation; The target motion state estimation equation set is expressed in matrix form to obtain the linear equation set of the system observation model.

[0008] Further, the sound barrier equation is:

[0009] wherein, is the first coefficient, is the second coefficient, is the third coefficient, is the coordinate of each sound source, m is the sound source serial number with a value range of 1~M, is the coordinate of each receiver, n is the receiver serial number with a value range of 1~N; The target motion equation is:

[0010] wherein, is the target horizontal coordinate at time , is the target vertical coordinate at time , is the coordinate of the first sound barrier of the target at time ; The target motion state estimation equation set is:

[0011] wherein, is a target to cross the sound barrier composed of the mth sound source and the nth receiver group, is the projection of the speed in the x-axis direction, is the projection of the speed in the y-axis direction; The linear equation set is:

[0012] wherein, is a coefficient matrix, is a to-be-estimated parameter, is a constant vector.

[0013] Further, in the step of establishing the system layout objective function, taking the positions of the sound sources and the positions of the receivers as optimization independent variables, taking the number of the sound sources and the number of the receivers as optimization constraints, and taking the condition number of the coefficient matrix of the linear equation set as the target to be minimized, the step comprises: constructing a position set variable according to the positions of the sound sources and the positions of the receivers; constructing a penalty function according to the number, the physical range and the distance of the sound sources and the receivers; based on the position set variable and the penalty function, establishing the system layout objective function, taking the condition number of the coefficient matrix of the linear equation set as the target to be minimized.

[0014] Further, the position set variable of the positions of the sound sources and the positions of the receivers is:

[0015] The penalty function is:

[0016] wherein, is a node number constraint, is a physical range constraint, is a distance constraint; The system layout objective function is:

[0017] wherein, is the condition number of the matrix , and is a penalty coefficient.

[0018] Further, the node number constraint is:

[0019] wherein, is the maximum number of the sound sources, is the maximum number of the receivers; The physical range constraint is:

[0020] wherein Q is a sea area range specified by a position constraint; The distance constraint is:

[0021] wherein, is a minimum allowable transceiver distance, is a distance between the mth sound source and the nth receiver.

[0022] Further, in the step of solving an optimal problem of the objective function by using a search optimization algorithm to obtain optimal node positions and an optimal condition number, the step includes: taking positions of the sound sources and the receivers as optimization variables to search under the constraint condition; dividing the detection area into grids by discretization processing at a preset resolution, and moving the positions of the receivers and the sound sources in turn to search; adopting a step-by-step iteration strategy, fixing the positions of the sound sources first, traversing the positions of the receivers, updating the positions of the sound sources to search in the next round, and searching until all node layouts are traversed to find a global optimal solution that minimizes the objective function, so as to obtain optimal node positions and an optimal condition number.

[0023] The technical scheme provided by the embodiments of the present disclosure can include the following beneficial effects: In the embodiments of the present disclosure, by using the above-mentioned distributed sound barrier layout optimization method based on minimum estimation error, on the one hand, by inputting the number of sound sources and receivers, the constraint conditions such as the layout range, and combining the target motion model to establish a linear equation set of the observation model, the condition number of the equation set coefficient matrix is taken as an optimization index, the sonar node position vector is taken as an optimization independent variable, and a system layout objective function is established by taking the minimization of the matrix condition number as a principle; the detection area is gridded to reduce the calculation amount, and a global optimal solution of the sonar node position is given by using the traversal search method. On the other hand, the method does not need a specific transceiver configuration, and the accuracy of target detection is improved by layout optimization, and the method has stronger practicality and flexibility and universality in application. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate one embodiment consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0025] Figure 1 A step diagram of a distributed sound barrier layout optimization method based on minimum estimation error in an exemplary embodiment of the present disclosure is shown. Figure 2 FIG. 2 shows a schematic diagram of a 2-transmitter 2-receiver conventional layout in the example embodiment of the present disclosure; Figure 3 FIG. 3 shows a schematic diagram of a 2-transmitter 2-receiver layout optimization result 1 in the example embodiment of the present disclosure; Figure 4 FIG. 4 shows a schematic diagram of a 2-transmitter 2-receiver layout optimization result 2 in the example embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the inventive aspects to those skilled in the art. Features described in the description, structures, or characteristics may be combined in any suitable manner in one or more implementations.

[0027] In addition, the drawings are only schematic and the dimensions of certain features are chosen for convenience of discussion only. Same reference numerals may identify same or similar elements throughout the several views. Some of the blocks in the drawings may be functionally related, and some of the blocks may be physically related.

[0028] A distributed sound barrier layout optimization method based on minimum estimation error is provided in the example embodiment. Referring to FIG. 1, the distributed sound barrier layout optimization method based on minimum estimation error may include: Figure 1 Step S101: constructing a linear equation set of a system observation model according to the number and layout range of sound sources, the number and layout range of receivers, and in combination with a target motion model; Step S102: taking the positions of sound sources and receivers as optimization independent variables, taking the number of sound sources and the number of receivers as optimization constraints, and taking the condition number of a coefficient matrix of the linear equation set as a target, establishing a system layout objective function; Step S103: solving the optimization problem of the objective function by using a search optimization algorithm to obtain optimal node positions and an optimal condition number.

[0029] ​By the above-mentioned distributed sound barrier layout optimization method based on minimum estimation error, on the one hand, by inputting the number of sound sources and receivers, the layout range and other constraint conditions, a linear equation set of an observation model is established in combination with a target motion model; the condition number of the equation set coefficient matrix is taken as an optimization index, the sonar node position vector is taken as an optimization independent variable, and a system layout objective function is established in the principle of minimizing the matrix condition number; the detection area is gridded to reduce the calculation amount, and the global optimization solution of the sonar node position is given by means of traversal search. On the other hand, the method does not need a specific transceiving configuration, and the accuracy of target detection is actually improved by layout optimization, and the method has stronger practicability and flexible versatility in application.

[0030] In the following, the above-mentioned distributed sound barrier layout optimization method based on minimum estimation error in the present example embodiment will be described in more detail. Figures 1 to 4 The above-mentioned distributed sound barrier layout optimization method based on minimum estimation error in the present example embodiment will be described in more detail.

[0031] In step S101, a linear equation set of a system observation model is constructed according to the number and layout range of sound sources, the number and layout range of receivers, and in combination with a target motion model.

[0032] Specifically, an acoustic detection system is constructed, which is composed of M sound sources and N receivers arranged in a transceiving manner (M≥2, N≥2, numbered from 1), and M×N sound barriers are formed between each sound source and receiver through periodic radiation of detection pulses by the sound sources. Each sound source node is located at , and the subscripts respectively represent the horizontal and vertical coordinates, m is the sound source serial number with a value range of 1~M; each receiver is located at , and n is the receiver serial number with a value range of 1~N. Each sound barrier is represented by a vector.

[0033] The equation coefficient is:

[0034] The target motion process is modeled as a uniform linear motion with a speed of and a heading of (small error exists when the speed is variable), which crosses the first sound barrier at time and is located at position. The target heading is defined as the included angle between the target sailing direction vector and the positive direction of the axis.

[0035]

[0036] wherein and are the target positions at time .

[0037] The goal is in time Crossing the sound barrier By simultaneously solving the equations for the sound barrier and the target motion, the equation set for estimating the target motion state is as follows:

[0038] The above questions are summarized as follows:

[0039] in The coefficient matrix, For the parameters to be estimated, The three are constant vectors, and are as follows:

[0040] in for The coefficient submatrix, for The coefficient subvector, with each row element derived from the first... The geometric coefficients of the sound barrier equation, which consists of the sound source and each receiver, are used to construct the sound barrier. .

[0041] In step S102, the system layout objective function is established with the location of the sound source and the location of the receiver as the optimization independent variables, the number of sound sources and the number of receivers as the optimization constraints, and minimizing the condition number of the coefficient matrix of the linear equation system as the objective.

[0042] Specifically, in order to minimize the state estimation error, the coefficient matrix is ​​minimized. The condition number is the objective. The smaller the condition number, the closer the matrix is ​​to full rank, the more stable the solution of the system of equations, and the smaller the estimation error.

[0043] Considering constraints such as the number of nodes and physical constraints, the matrix condition number related to node positions, and the objective function, are expressed as:

[0044] in For matrix The condition number of To consider the penalty function for the constraints, The effects of the penalty coefficient, balance condition number, and penalty number.

[0045] System layout constraints include: 1) The node number constraint is expressed as:

[0046] wherein and are the maximum number of sound sources and receivers, respectively.

[0047] 2) The physical range constraint is expressed as:

[0048] wherein Q is the sea area range specified by the position constraint.

[0049] 3) Distance constraint:

[0050] In summary, the penalty function is written as .

[0051] In step S103, the search optimization algorithm is used to solve the optimization problem of the objective function to obtain the optimal node position and optimal condition number.

[0052] Specifically, for the cost function of minimizing the condition number of the coefficient matrix, the optimal solution is found with the node position as the independent variable, and the optimization process is as follows: First step: First, simplify the range of independent variables according to the number of nodes and range constraints. Fix the dimension of the node independent variable, and limit the numerical value of each element within the specified range, to ensure that each sound barrier does not extend beyond the detection area, while ensuring coverage of the target trajectory.

[0053] Second step: To simplify the calculation amount, the variable parameters need to be discretized. The detection area is gridded according to the specified distance resolution. In each search, the receiver position is moved only while the sound source position is fixed. After the receiver position traverses the independent variable region, the sound source position is updated and the next round of search is started.

[0054] Third step: In the case of too many optimization independent variable parameters, a step-by-step iteration method is used to move each sound barrier node one by one to ensure that the global optimal solution of the layout scheme is obtained.

[0055] Table 1 is the specific optimization process.

[0056] Table 1

[0057] In a specific embodiment, using the optimization of dual-transmitter, dual-receiver node layout as an application example, the simulation results of the optimized layout of four sound barriers are given according to the method of this application. The sound source nodes are named S1 and S2, and the receiving nodes are R1 and R2. The constraints are as follows: the deployment range of each node is limited to a rectangular area of ​​5km horizontally and 2km vertically, the maximum length of the four sound barriers is 1.5km, the sound barriers must cross the target track (the sound source and receiver must be located on opposite sides of the track), and the angle between S1R1 and S2R2 does not exceed ±60°. The target travels at a speed of 4 knots in a 45° direction (the angle between the heading and the positive x-axis), therefore, the geometric models of the four sound barriers and the target motion model are established simultaneously to create a linear equation system for target state estimation. The objective function is to minimize the coefficient matrix, and the node positions are used as independent variables for ergonomic optimization. The deployment area is meshed at 100m horizontal and vertical distance intervals. First, the position of S1R1 is initialized, and then S2R2 is moved. Set S1 to the origin, with R1 1500m apart from S1. S1R1 is parallel to the x-axis, and the S1R1 sound barrier is fixed. Each time, move S2 along the grid points, and take R2 while traversing the grid points. Each iteration forms four sound barriers. Compare this layout result with the constraints; currently, only retain the layout result if all constraints are met. Extract the coefficient matrix for the constrained layout, minimize the condition number of the coefficient matrix to calculate the objective function value, and compare it with the minimum objective function value of each iteration. If the current index is lower, update the minimum objective function result and the corresponding layout.

[0058] The conventional layout of a sonar system is as follows Figure 2 As shown, S1R1 and S2R2 are perpendicular parallel line segments at this point, and the calculated condition number for this layout is 7054. Step S101 is used to determine the target speed. ,course and distance Make an estimate ( Crossing the first goal (distance from S1 when the sound barrier is in place), and with , and The errors for each state parameter are estimated (where subscript es represents the estimated result and subscript re represents the actual result). The velocity estimate is 2.32 m / s, with a velocity estimation error of 11.62%; the angle estimate is 38.65°, with an angle estimation error of 16.40%; the distance estimates are [2577 m, 2694 m, 2711 m, 2834 m], which represent the distances between the target trajectory and the intersections of the S1R1, S1R2, S2R1, and S2R2 sound barriers and the sound source, respectively, with an average distance estimation error of 0.04%.

[0059] When only S1R1 and S2R2 are restricted to be parallel, the optimal layout result is as follows: Figure 3The layout condition number is 945 as shown (S1R2 and S2R1 are omitted for simplicity). After optimization, the S1 position is [1200, 200], the R1 position is [2700, 200], the S2 position is [1600, 400], and the R2 position is [3100, 400]. The speed estimation result is 1.94 m / s, the speed estimation error is 6.08%, the angle estimation result is 48.81°, the angle estimation error is 7.81%, and the distance estimation result is [2817m, 2889m, 2860m, 2913m], which is the distance between the target track and the intersection of the sound barriers S1R1, S1R2, S2R1, and S2R2 and the sound source, respectively. The average distance estimation error is 0.10%. Compared with the estimation result of the conventional layout, the estimation error is basically reduced by 1 / 2, significantly reducing the estimation error of the system on the target state. It can be seen from Figure 3 that if the layout is moved up and down along the y-axis within the layout range, although the simulation results are slightly different due to discretization errors, the target state estimation result is theoretically unchanged.

[0060] When S1R1 and S2R2 are not limited to be parallel (the maximum angle is ±30°), the optimal layout result is as shown in Figure 4 . At this time, the system layout condition number is 384. At this time, the S1 position is [2600, 300], the R1 position is [4100, 300], the S2 position is [1900, 400], and the R2 position is [3200, 500]. Figure 3 It can be seen that if multiple sound barriers are arranged at a certain angle, the layout condition number is reduced by 94% compared with the conventional layout, and the minimum layout condition number of parallel layout is reduced by 45%. The speed estimation result is 2.06 m / s, the speed estimation error is 0.70%, the angle estimation result is 44.68°, the angle estimation error is 0.32%, the distance estimation result is [2912m, 3081m, 2971m, 3129m], which is the distance between the target track and the intersection of the sound barriers S1R1, S1R2, S2R1, and S2R2 and the sound source, respectively. The average distance estimation error is 0.06%. Compared with the estimation result of the conventional layout, the estimation error is reduced by 2 orders of magnitude, significantly reducing the estimation error of the target state. Similarly, if the layout is moved up and down along the y-axis within the layout range, the target state estimation result is theoretically unchanged.

[0061] By the above-mentioned distributed sound barrier layout optimization method based on minimum estimation error, on the one hand, by inputting the number of sound sources and receivers, the constraint conditions such as the layout range, and combining the target motion model to establish the linear equation set of the observation model; the condition number of the equation set coefficient matrix is taken as the optimization index, the sonar node position vector is taken as the optimization independent variable, and the minimum matrix condition number is taken as the principle to establish the system layout objective function; the detection area is gridded to reduce the calculation amount, and the global optimization solution of the sonar node position is given through the traversal search mode. On the other hand, the method does not need specific transceiver configuration, and the accuracy of target detection is improved through layout optimization, and the method has stronger practicability and flexibility and universality in application.

[0062] It should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like in the above description indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present disclosure.

[0063] In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, the meaning of "plurality" is two or more, unless otherwise explicitly specified and limited.

[0064] In the embodiments of the present disclosure, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present disclosure can be understood according to the specific circumstances.

[0065] In the embodiments of the present disclosure, unless specifically defined and limited otherwise, "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "over" of a first feature to a second feature include that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. "Under", "below" and "underneath" of a first feature to a second feature include that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0066] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the specification.

[0067] Other embodiments of the present disclosure will be apparent to those skilled in the art upon consideration of the specification and practice of the applications disclosed. The present application is intended to cover any variations, uses or adaptive changes of the present disclosure following the general principles of the present disclosure and including known or customary practices in the art not disclosed in the present disclosure. The specification and examples are only considered as exemplary, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A method for distributed noise barrier layout optimization based on minimum estimation error, characterized in that, The method comprises: According to the number and arrangement range of the sound sources and the number and arrangement range of the receivers, a linear equation set of a system observation model is constructed in combination with a target motion model; Taking the positions of the sound sources and the receivers as optimization independent variables, taking the number of the sound sources and the number of the receivers as optimization constraints, and taking minimizing the condition number of the coefficient matrix of the linear equation set as a target, a system layout objective function is established; An optimal node position and an optimal condition number are obtained by solving an optimization problem of the objective function by using a search optimization algorithm.

2. The method of claim 1, wherein, In the step of constructing the linear equation set of the system observation model according to the number and arrangement range of the sound sources and the number and arrangement range of the receivers in combination with the target motion model, the step comprises: M sound sources and N receivers are arranged in a predetermined sea area, wherein M is greater than or equal to 2, and N is greater than or equal to 2; The sound sources periodically emit detection pulses, and sound barriers are formed between the sound sources and the receivers, and a total of M*N sound barriers are formed between each sound source and receiver; A sound barrier equation is constructed according to the positions of each sound source and each receiver; The movement process of the target is modeled as a uniform straight-line movement with a speed of and a heading of . Target in time At location Crossing the first sound barrier; A target motion equation is constructed based on the time of the target passing through each sound barrier; The sound barrier straight line equation and the target motion equation are combined to construct a target motion state estimation equation set; The target motion state estimation equation set is expressed in matrix form to obtain the linear equation set of the system observation model. 3.The method of claim 2, wherein, The sound barrier equation is: wherein, is a first coefficient, is a second coefficient, is a third coefficient, is a coordinate of each sound source, m is a sound source serial number with a value ranging from 1 to M, is a coordinate of each receiver, n is a receiver serial number with a value ranging from 1 to N; The target motion equation is: wherein, is the time target horizontal coordinate at time is the time target vertical coordinate at time is the coordinate at time The target motion state estimation equation set is: wherein, is the target to cross the sound barrier composed of the mth sound source and the nth receiver, is the speed of the target, x is the axial direction projection, is the speed of the target, y is the axial direction projection; The linear equation set is: wherein is a coefficient matrix, is a parameter to be estimated, is a constant vector.

4. The method of claim 3, wherein, In the step of taking the positions of the sound sources and the receivers as optimization independent variables, taking the number of the sound sources and the number of the receivers as optimization constraints, and taking minimizing the condition number of the coefficient matrix of the linear equation set as a target to establish the system layout objective function, the step comprises: A position set variable is constructed according to the positions of the sound sources and the receivers; A penalty function is constructed according to the number, physical range and distance of the sound sources and the receivers; Based on the position set variable and the penalty function, the system layout objective function is established by taking minimizing the condition number of the coefficient matrix of the linear equation set as a target.

5. The method of claim 4, wherein, The position set variable of the positions of the sound sources and the receivers is: The penalty function is: wherein, is a number of nodes constraint, is a physical range constraint, is a distance constraint; The system layout objective function is: wherein is the condition number of the matrix is the condition number of the matrix is a penalty coefficient.

6. The method of claim 5, wherein, The node number constraint is: wherein, is a maximum value of the number of sound sources, is a maximum value of the number of receivers; The physical range constraint is: Wherein, Q is the sea area range specified by the position constraint; The distance constraint is: wherein, is the minimum allowed transmission-reception distance, is the distance between the mth sound source and the nth receiver.

7. The method of claim 6, wherein, In the step of solving the optimization problem of the objective function by using the search optimization algorithm to obtain the optimal node position and the optimal condition number, the step comprises: The positions of the sound sources and the receivers are taken as optimization variables, and searching is performed under the condition of satisfying the constraint condition; The detection area is divided into a grid by discretization processing at a preset resolution, and the receiver and sound source positions are moved in turn for searching; A step-by-step iteration strategy is adopted, the sound source positions are fixed first, the receiver positions are traversed, the sound source positions are updated for the next round of searching, and all node layouts are traversed until the global optimal solution that minimizes the objective function is found, so as to obtain the optimal node position and the optimal condition number.

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