Single hydrophone data target information reorganizing and labeling method, hardware and system based on acoustics and situation information

Abstract

The invention relates to a single hydrophone data target information reorganizing and labeling method, hardware and system based on acoustics and situation information. Single hydrophone data are acquired, key acoustics data are intercepted, target situation information in a time period corresponding to the key acoustics data is acquired, uniqueness of a target is judged, and corresponding frequency domain line spectrum features are extracted when conditions are met; judging whether line spectrum interference exists or not based on the frequency domain line spectrum characteristics, if yes, rejecting an interference time period, retaining effective data of the single hydrophone for the current target, and marking target information; hardware is realized based on the method; the system receives information of the first receiving unit and the second receiving unit through the control end and marks target information through the method. According to the method, a three-level collaborative verification mechanism is adopted, acoustic and non-acoustic situation information is fused and analyzed, uniqueness verification of the target situation is executed, a Doppler frequency shift constraint formula is adopted to eliminate the line spectrum noise interference condition, and data feature information can be displayed more visually and accurately through marked data.

Description

Technical Field

[0001] This invention relates to the technical fields of radio orientation; radio navigation; ranging or velocities using radio waves; positioning or presence detection using the reflection or re-radiation of radio waves; and similar devices using other waves. In particular, it relates to a method, hardware, and system for compiling and labeling target information from a single hydrophone based on acoustic and situational information. Background Technology

[0002] In the field of underwater acoustic signal processing technology, acoustic standard dataset products are audio data segments with labeled information. Accurately labeling the target information, audio acquisition equipment, acquisition time period, and other information of this audio recording allows for a comprehensive understanding of the target's acoustic characteristics, providing strong support for target recognition. Compilation and annotation is one of the important processes in creating dataset products. Through this process, target information and audio data can be linked, and the accuracy of compilation and annotation directly affects the accuracy of target recognition results.

[0003] A single hydrophone refers to a data acquisition device with only one hydrophone, and the acquired data is single-channel data. According to the passive sonar equation, the closer the target is to the acquisition device, the higher the signal-to-noise ratio of the data and the clearer the features.

[0004] However, existing technologies have the following drawbacks:

[0005] (1) Labeling errors caused by cross-interference of multiple targets; When multiple targets pass near the hydrophone at the same time, traditional acoustic analysis methods often use pure acoustic detection methods, such as Low Frequency Analysis and Recording (LOFAR) spectrum analysis, which are prone to misidentifying the superimposed signal of multiple adjacent targets as a single target, and cannot distinguish the energy peak attribution, resulting in incorrect association between targets and signals;

[0006] (2) Feature interference caused by line spectrum interference; Since existing frequency filtering methods cannot distinguish between different target line spectra in the same frequency band, there is a situation where the stable line spectrum of distant targets (such as the steady-state line spectrum of distant targets) pollutes the current target frequency band, resulting in distortion of subsequent feature extraction;

[0007] (3) Spatial ambiguity in single sensor scenarios; multi-element array schemes are expensive, while single hydrophones lack spatial resolution capabilities. Pure trajectory matching methods are affected by positioning errors, resulting in correlation distortion and making it difficult to verify the physical correlation between acoustic signals and targets.

[0008] In summary, current methods for compiling and annotating single-hydrophone data suffer from three major technical bottlenecks: high false alarm rate, ambiguous correlation, and sensitivity to interference. These bottlenecks stem from the lack of spatial resolution capabilities of single-hydrophone data, the susceptibility of traditional acoustic analysis methods to multi-target superposition, and the influence of environmental noise level line spectrum interference. Therefore, efficient compilation and annotation of single-hydrophone data is impossible. In single-hydrophone detection scenarios, achieving automatic target information annotation with low false alarm rate and high accuracy is a pressing issue that needs to be addressed. Summary of the Invention

[0009] To address the problems existing in the prior art, this invention provides a method, hardware, and system for compiling and annotating target information from single hydrophone data based on acoustic and situational information. It avoids annotation errors caused by multi-target cross-interference and spatial ambiguity through target situational uniqueness authentication, avoids line spectrum interference through line spectrum Doppler frequency shift verification, and eliminates time periods where the target situation is not unique and line spectrum interference exists, thereby improving the accuracy of hydrophone data compilation and annotation. It is especially suitable for the accurate annotation of moving targets in low signal-to-noise ratio environments.

[0010] The technical solution adopted in this invention is a method for compiling and annotating target information from single hydrophone data based on acoustic and situational information. The method acquires single hydrophone data, extracts key acoustic data, acquires target situational information within the time period corresponding to the key acoustic data, determines the uniqueness of the target, and extracts the corresponding frequency domain line spectrum features when the conditions are met. Based on the frequency domain line spectrum features, it is determined whether there is line spectrum interference. If so, the interference time period is removed, and the effective data of the single hydrophone for the current target is retained for target information annotation.

[0011] Preferably, the method includes the following steps:

[0012] S1 receives the single hydrophone data, detects the acoustic energy peak of the hydrophone data, and obtains the candidate time period;

[0013] S2 obtains the situation information corresponding to the target within the candidate time period, performs uniqueness verification on the target within the candidate time period, and excludes time periods with multiple targets.

[0014] S3 performs Doppler frequency shift verification on the line spectrum within the time period processed by S2. If the condition is not met, it returns to S1; otherwise, it proceeds to the next step.

[0015] S4 target annotation generation.

[0016] Preferably, S1 includes the following steps:

[0017] S1.1 receives the time-domain sound pressure signal collected by a single hydrophone and obtains unit signal energy using a preset sliding window;

[0018] S1.2 Calculate the average energy and standard deviation of the background noise, and set a preset threshold based on the standard deviation;

[0019] S1.3 When the energy rise rate of a consecutive preset number of sliding windows exceeds a preset threshold, the starting point of the consecutive preset number of sliding windows shall be taken as the start time of the time period. The acoustic energy peak is defined as the moment when the energy reaches its local maximum value; when the energy decrease rate of a consecutive preset number of sliding windows exceeds a preset threshold, the time period ends at the end of the consecutive preset number of sliding windows. ;

[0020] S1.4 Output candidate time periods ,by Starting from the time, This is the deadline.

[0021] Preferably, S2 includes the following steps:

[0022] S2.1 Obtain the trajectory data of the target within the candidate time period and obtain the latitude and longitude of the current hydrophone;

[0023] S2.2 Calculate the distance between the target and the hydrophone at each time point within the candidate time period to obtain the distance sequence;

[0024] S2.3 Obtain the motion vector of each target based on the distance sequence, and find the moment when the distance to each target is minimized. ;

[0025] S2.4 Determine the uniqueness of the current target within the time tolerance window of the candidate time period.

[0026] Preferably, in S2.4, if there are multiple targets... If the time falls within the time tolerance window of the candidate time period, it is determined to be a multi-target conflict, the current candidate time period is abandoned, and S1 is repeated; otherwise, the current target is recorded.

[0027] Preferably, S3 includes the following steps:

[0028] S3.1 Obtain the acoustic information of the candidate time period corresponding to the current hydrophone, extract the line spectrum under preset conditions, and record the line spectrum frequency shift information;

[0029] S3.2 Find the target speed based on the current target;

[0030] S3.3 For the frequency of the extracted line spectrum under the preset conditions, determine the fundamental frequency. Then calculate the maximum frequency offset to obtain the theoretical range of Doppler frequency shift, and check whether the line spectrum frequency shift is within this range.

[0031] Preferably, in S3.3, if the frequency shift of any extracted line spectrum frequency exceeds the range, it is determined that the line spectrum frequency does not belong to the current target and belongs to line spectrum interference. The candidate time period is abandoned and S1 is returned; otherwise, S4 is performed.

[0032] A computer-readable storage medium storing a single hydrophone data target information compilation and annotation program based on acoustic and situational information, which, when executed by a processor, implements the aforementioned single hydrophone data target information compilation and annotation method based on acoustic and situational information.

[0033] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the method for compiling and annotating target information of a single hydrophone based on acoustic and situational information.

[0034] A single hydrophone data target information compilation and annotation system based on acoustic and situational information, the system comprising:

[0035] A first receiving unit is used to acquire acoustic information data from a single hydrophone;

[0036] A second receiving unit is used to acquire the target's situational information;

[0037] A control terminal is used to receive information from the first receiving unit and the second receiving unit and to annotate the target information using the single hydrophone data target information compilation and annotation method based on acoustic and situational information.

[0038] This invention relates to a method, hardware, and system for compiling and labeling target information from single hydrophone data based on acoustic and situational information. The method involves acquiring single hydrophone data, extracting key acoustic data, obtaining target situational information within the corresponding time period of the key acoustic data, determining the uniqueness of the target, and extracting the corresponding frequency domain line spectrum features when conditions are met. Based on the frequency domain line spectrum features, the method determines whether line spectrum interference exists; if so, the interfering time period is removed, and the valid data from the single hydrophone for the current target is retained for target information labeling. The hardware is implemented based on the method. The system receives information from a first receiving unit and a second receiving unit via a control terminal and labels the target information using the method.

[0039] The beneficial effects of this invention are as follows:

[0040] (1) A three-level collaborative verification mechanism of spatiotemporal decoupling, physical constraint filtering and cross-domain feature fusion is adopted to solve the current technical problems;

[0041] (2) In view of the problems of labeling errors caused by multi-target cross-interference and spatial ambiguity in single-sensor scenarios in the existing technology, the present invention integrates the analysis of acoustic and non-acoustic situation information. First, the energy peak is extracted by analyzing the time domain acoustic signal. In order to ensure time uniformity, the distance change between the target and the single hydrophone within the time period of the energy peak is analyzed. The uniqueness verification of the target situation is performed, the time period of multi-target cross-interference is excluded, and only the time period with a unique target is used.

[0042] (3) In view of the characteristic interference of line spectrum noise in the prior art, the present invention uses the Doppler frequency shift constraint formula to calculate the Doppler frequency shift of obvious line spectrum in the time period, and at the same time determines whether all line spectrums meet the Doppler frequency shift result calculated according to the current target speed, thus eliminating the interference of line spectrum noise;

[0043] (4) Data annotated using the annotation method of the present invention can display data feature information more intuitively and accurately. Attached Figure Description

[0044] Figure 1 This is a flowchart of the method of the present invention;

[0045] Figure 2 This is a schematic diagram of the system structure of the present invention;

[0046] Figure 3 This is a schematic diagram of a specific implementation of the present invention. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0048] This invention relates to a method for compiling and annotating target information from single hydrophone data based on acoustic and situational information. The method acquires single hydrophone data, extracts key acoustic data, obtains target situational information within the time period corresponding to the key acoustic data, determines the uniqueness of the target, and extracts the corresponding frequency domain line spectrum features when the conditions are met. Based on the frequency domain line spectrum features, it determines whether there is line spectrum interference. If so, the interfering time period is removed, and the valid data of the single hydrophone for the current target is retained for target information annotation.

[0049] To provide higher quality data products, it is necessary to extract the time period with the strongest signal-to-noise ratio of the target signal, that is, the time period when the target moves from far away to near and then back to far away. During this time period, the time domain energy also increases from low to high and then decreases. The technical principle of this invention is to first use energy peak detection to screen the time period where the target is suspected. Since the data received by this single hydrophone is omnidirectional data (i.e., receiving sound waves from all directions), in order to ensure data quality, it is necessary to eliminate interference from other targets. This invention eliminates interference from both situational data and line spectrum.

[0050] When two targets pass the hydrophone in adjacent time periods, their respective energy peaks overlap. At this time, energy peak detection alone cannot distinguish the two targets. Therefore, the moment when each target is closest to the hydrophone is calculated based on the situation data. The uniqueness of the target is determined by comparing the moment and the energy peak time period, and the time period when multiple targets exist is excluded.

[0051] Because target situation data may be missing, and targets at a greater distance may have strong line spectra that interfere with the current time period, this invention adds Doppler verification of the line spectra after the target uniqueness determination result. When two sound sources have a relative motion trend, the sound source frequencies will shift according to the relative motion speed, i.e., the Doppler effect. If there is a strong line spectrum in the current time period that does not conform to the Doppler effect caused by the current motion situation, then that line spectrum does not belong to the current target, that is, the data segment is interfered with by the line spectra of other targets and cannot be used.

[0052] In this invention, the compilation and annotation of high-quality single hydrophone data target information can be achieved through the synergy of energy peak detection, target situation uniqueness authentication, and line spectrum Doppler frequency shift verification.

[0053] The method of the present invention includes the following steps:

[0054] (1) Receive the single hydrophone data, detect the acoustic energy peak of the hydrophone data, and obtain the candidate time period;

[0055] (2) Obtain the situation information corresponding to the target within the candidate time period, verify the uniqueness of the target within the candidate time period, and exclude time periods with multiple targets;

[0056] (3) Verify the Doppler frequency shift of the line spectrum within the time period after processing (2). If the condition is not met, return to (1); otherwise, proceed to the next step.

[0057] (4) Target annotation generation.

[0058] The method will be described in detail below with reference to the embodiments.

[0059] (1) Receive the single hydrophone data, detect the acoustic energy peak of the hydrophone data, and obtain the candidate time period;

[0060] (1) Primarily used to detect the peak energy time period of time-domain signals;

[0061] (1-1) Receive the time-domain sound pressure signal collected by a single hydrophone and obtain the unit signal energy using a preset sliding window;

[0062] In this embodiment, the window length is 0.5 seconds, and each movement takes 0.25 seconds.

[0063] (1-2) Calculate the average energy and standard deviation of the background noise, and set a preset threshold based on the standard deviation;

[0064] The threshold is typically set to 2 to 4 times the standard deviation of the background noise; in this example, it is set to 3 times.

[0065] Background noise is calculated and measured using sound pressure signals, which is easily understood by those skilled in the art and can be obtained by processing according to their needs.

[0066] (1-3) When the energy rise rate of a consecutive preset number of sliding windows exceeds a preset threshold, the starting point of the consecutive preset number of sliding windows is taken as the start time of the time period. The acoustic energy peak is defined as the moment when the energy reaches its local maximum value; when the energy decrease rate of a consecutive preset number of sliding windows exceeds a preset threshold, the time period ends at the end of the consecutive preset number of sliding windows. ;

[0067] In this embodiment, when determining the start and end times, the energy rise rate and energy fall rate of three consecutive sliding windows exceed a preset threshold. In practical applications, there may be more than three sliding windows corresponding to the energy fall rate, but with three sliding windows rising and three sliding windows falling, the specificity of the candidate time period can be basically reflected. Obviously, the threshold is negative when characterizing the energy fall rate.

[0068] The local maximum value can be extracted by the peak value of the maximum value. This is something that is easy for those skilled in the art to understand, and they can process it themselves according to their needs.

[0069] (1-4) Output candidate time periods ,by Starting from the time, This is the deadline.

[0070] Candidate time period here Generally, the duration should be greater than or equal to 30 seconds and less than or equal to 300 seconds to ensure its effectiveness.

[0071] It should be noted that this embodiment presents a time-domain energy peak detection method, but in fact, the high-precision peak extraction algorithm is also applicable in this invention.

[0072] (2) Obtain the situation information corresponding to the target within the candidate time period, verify the uniqueness of the target within the candidate time period, and exclude time periods with multiple targets;

[0073] (2-1) Obtain the trajectory data of the target within the candidate time period and obtain the latitude and longitude of the current hydrophone;

[0074] The target trajectory data is generally AIS data, which includes the target's time and latitude and longitude within the candidate time period.

[0075] (2-2) Calculate the distance between the target and the hydrophone at each time point within the candidate time period to obtain the distance sequence;

[0076] (2-3) Obtain the motion vector of each target based on the distance sequence and find the time when the distance to each target is minimized. ;

[0077] In this embodiment, considering that a distance sequence has been obtained, time-by-time differencing processing is performed on the distance sequence. The derivative of the difference result before the given time is negative, meaning the distance between the target and the single hydrophone has decreased. The derivative of the difference result before the time step is positive, meaning that the distance between the target and the single hydrophone has increased.

[0078] (2-4) Determine the uniqueness of the current target within the time tolerance window of the candidate time period.

[0079] Specifically, if there are multiple targets If the time falls within the time tolerance window of the candidate time period, it is determined to be a multi-target conflict, the current candidate time period is abandoned, and (1) is repeated; otherwise, the current target is recorded.

[0080] Considering that (2-2) is the result obtained by calculating the latitude and longitude of the hydrophone using AIS data, the AIS data may actually include one or more targets. However, what this invention needs to extract is the time period when only one target exists. Therefore, when there are multiple targets around a single hydrophone, the signals of all targets will be received, and this situation needs to be excluded.

[0081] In this embodiment, the time tolerance window for the candidate time period is a time period. [ T p _ s t a r t − Δ t , T p _ e n d + Δ t ] ,in, For time tolerance, Δ t ∈ [ 2 0 S , 6 0 S ] Here, the time is set to 30 seconds; for targets that meet the requirements, their target IDs are recorded.

[0082] (3) Verify the Doppler frequency shift of the line spectrum within the time period after processing (2). If the condition is not met, return to (1); otherwise, proceed to the next step.

[0083] The line spectrum Doppler frequency shift verification here is used to verify whether the line spectrum within a time period meets the Doppler frequency shift range corresponding to the target situation, and to eliminate time periods with interfering line spectra.

[0084] (3-1) Obtain the acoustic information of the candidate time period corresponding to the current hydrophone, extract the line spectrum under preset conditions, and record the line spectrum frequency shift information;

[0085] In this embodiment, specifically, the candidate time period... For acoustic signals within the range, spectral analysis is typically performed using Fast Fourier Transform (FFT). Line spectra with amplitudes exceeding 10 dB above the average spectral amplitude are extracted as significant line spectra, while the frequency shift of the line spectra is recorded.

[0086] (3-2) Find the target speed based on the current target;

[0087] The target speed is derived from AIS data and is a known input; specifically, the target speed is looked up based on the target ID. ,For example It consists of 20 sections, approximately 10.3 m / s.

[0088] (3-3) For the frequency of the extracted line spectrum under the preset conditions, determine the fundamental frequency. Then calculate the maximum frequency offset to obtain the theoretical range of Doppler frequency shift, and check whether the line spectrum frequency shift is within this range.

[0089] Since the target may contain multiple line spectra, this method takes each line spectrum itself as the fundamental frequency, or selects the value when the line spectrum is extracted as the fundamental frequency, or finds the corresponding target type (such as merchant ships, fishing ships, etc.) by target ID. If the typical fundamental frequency of the target's radiated noise is known, then the typical fundamental frequency is used.

[0090] In this embodiment, each line spectrum itself is used as the fundamental frequency. Calculate the maximum frequency offset Where C is the speed of sound, taken as 1500 m / s;

[0091] Obtain the theoretical frequency range [ f 0 − Δ f _ m a x + Δ f , f 0 + Δ f _ m a x + Δ f ] , For frequency tolerance, Δ f ∈ [ 0 . 3 H z , 0 . 6 H z ] In this embodiment, 0.5Hz is used;

[0092] In (3-4), if the frequency shift of any extracted line spectrum frequency exceeds the range, it is determined that the line spectrum frequency does not belong to the current target and belongs to line spectrum interference. The candidate time period is abandoned and (1) is returned. Otherwise, (4) is performed.

[0093] (4) Target annotation generation.

[0094] In this embodiment, the generated annotations include:

[0095] Time window, the start time of a time period End time of the time period UTC format;

[0096] Unique identifier for a target, such as the MMSI of an AIS target;

[0097] Recent information, including time ,distance ;

[0098] List of dominant line spectral frequencies, verified by Doppler;

[0099] Signal-to-noise ratio, i.e. Average signal-to-noise ratio over a time period;

[0100] Confidence level is generally calculated based on signal-to-noise ratio, peak energy quality, etc., and ranges from 0 to 1.

[0101] The present invention also relates to a computer-readable storage medium storing a single hydrophone data target information compilation and annotation program based on acoustic and situational information, which, when executed by a processor, implements the aforementioned single hydrophone data target information compilation and annotation method based on acoustic and situational information.

[0102] The present invention also relates to a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method for compiling and annotating single hydrophone data target information based on acoustic and situational information.

[0103] This invention also relates to a single hydrophone data target information compilation and annotation system based on acoustic and situational information, the system comprising:

[0104] A first receiving unit is used to acquire acoustic information data from a single hydrophone;

[0105] A second receiving unit is used to acquire the target's situational information;

[0106] A control terminal is used to receive information from the first receiving unit and the second receiving unit and to annotate the target information using the single hydrophone data target information compilation and annotation method based on acoustic and situational information.

[0107] Specifically, after the acoustic information data acquired by the first receiving unit is handed over to the control end, the short-time energy of the acoustic signal is calculated in real time by the energy peak detection module and output. After the target situation information acquired by the second receiving unit is handed over to the control end, the multi-source fusion engine in it accesses AIS / radar data and performs target uniqueness verification. Subsequently, the Doppler physical constraint processor in the controller calls the built-in Doppler frequency shift calculation unit and line spectrum analysis unit for analysis and calculation. Finally, the structured annotation generator outputs JSON data including target ID, time window, nearest point information, dominant line spectrum frequency, signal-to-noise ratio and confidence level.

[0108] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0109] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0110] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0111] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0112] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0113] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for compiling and annotating target information from a single hydrophone based on acoustic and situational information, characterized in that: The method acquires single hydrophone data, extracts key acoustic data, obtains target situation information within the corresponding key acoustic data time period, determines the uniqueness of the target, and extracts the corresponding frequency domain line spectrum features when the conditions are met; based on the frequency domain line spectrum features, it determines whether there is line spectrum interference. If so, the interference time period is removed, and the valid data of the single hydrophone for the current target is retained for target information labeling.

2. The method for compiling and annotating target information of a single hydrophone data based on acoustic and situational information according to claim 1, characterized in that: The method includes the following steps: S1 receives the single hydrophone data, detects the acoustic energy peak of the hydrophone data, and obtains the candidate time period; S2 obtains the situation information corresponding to the target within the candidate time period, performs uniqueness verification on the target within the candidate time period, and excludes time periods with multiple targets. S3 performs Doppler frequency shift verification on the line spectrum within the time period processed by S2. If the condition is not met, it returns to S1; otherwise, it proceeds to the next step. S4 target annotation generation.

3. The method for compiling and annotating target information of a single hydrophone data based on acoustic and situational information according to claim 2, characterized in that: S1 includes the following steps: S1.1 receives the time-domain sound pressure signal collected by a single hydrophone and obtains unit signal energy using a preset sliding window; S1.2 Calculate the average energy and standard deviation of the background noise, and set a preset threshold based on the standard deviation; S1.3 When the energy rise rate of a consecutive preset number of sliding windows exceeds a preset threshold, the starting point of the consecutive preset number of sliding windows shall be taken as the start time of the time period. The acoustic energy peak is defined as the moment when the energy reaches its local maximum value; when the energy decrease rate of a consecutive preset number of sliding windows exceeds a preset threshold, the time period ends at the end of the consecutive preset number of sliding windows. ; S1.4 Output candidate time periods ,by Starting from the time, This is the deadline.

4. The method for compiling and annotating target information of a single hydrophone data based on acoustic and situational information according to claim 2, characterized in that: S2 includes the following steps: S2.1 Obtain the trajectory data of the target within the candidate time period and obtain the latitude and longitude of the current hydrophone; S2.2 Calculate the distance between the target and the hydrophone at each time point within the candidate time period to obtain the distance sequence; S2.3 Obtain the motion vector of each target based on the distance sequence, and find the moment when the distance to each target is minimized. ; S2.4 Determine the uniqueness of the current target within the time tolerance window of the candidate time period.

5. The method for compiling and annotating target information of a single hydrophone data based on acoustic and situational information according to claim 4, characterized in that: In S2.4, if there are multiple targets... If the time falls within the time tolerance window of the candidate time period, it is determined to be a multi-target conflict, the current candidate time period is abandoned, and S1 is repeated; otherwise, the current target is recorded.

6. The method for compiling and annotating target information of a single hydrophone data based on acoustic and situational information according to claim 2, characterized in that: S3 includes the following steps: S3.1 Obtain the acoustic information of the candidate time period corresponding to the current hydrophone, extract the line spectrum under preset conditions, and record the line spectrum frequency shift information; S3.2 Find the target speed based on the current target; S3.3 For the frequency of the extracted line spectrum under the preset conditions, determine the fundamental frequency. Then calculate the maximum frequency offset to obtain the theoretical range of Doppler frequency shift, and check whether the line spectrum frequency shift is within this range.

7. The method for compiling and annotating target information of a single hydrophone data based on acoustic and situational information according to claim 6, characterized in that: In S3.3, if the frequency shift of any extracted line spectrum frequency exceeds the range, it is determined that the line spectrum frequency does not belong to the current target and belongs to line spectrum interference. The candidate time period is abandoned and S1 is returned. Otherwise, S4 is performed.

8. A computer-readable storage medium, characterized in that: It stores a single hydrophone data target information compilation and annotation program based on acoustic and situational information. When the program is executed by the processor, it implements the single hydrophone data target information compilation and annotation method based on acoustic and situational information as described in any one of claims 1 to 7.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, it implements the single hydrophone data target information compilation and annotation method based on acoustic and situational information as described in any one of claims 1 to 7.

10. A single hydrophone data target information compilation and annotation system based on acoustic and situational information, characterized in that: The system includes: A first receiving unit is used to acquire acoustic information data from a single hydrophone; A second receiving unit is used to acquire the target's situational information; A control terminal is used to receive information from the first receiving unit and the second receiving unit and to annotate the target information using the single hydrophone data target information compilation and annotation method based on acoustic and situational information as described in any one of claims 1 to 7.

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