Underwater frogman detection sonar device and method based on beam forming technology

Abstract

The invention relates to the field of underwater detection devices, and discloses an underwater frogman detection sonar device based on a beam forming technology, which comprises a main console and a plurality of detection sub-devices, and is characterized in that the main console is in two-way communication connection with each detection sub-device; an identification module of the static identification total unit is used for acquiring the received signal and judging whether the signal-to-noise ratio DT of the received signal is greater than a preset target appearance threshold value, if the judgment result is false, judging the received signal as a low-activity signal and re-acquiring the received signal, and if the judgment result is true, judging that the underwater target to be detected appears, and otherwise, judging that the underwater target to be detected appears. The detection sub-device receives a signal, judges the received signal as a non-low-activity signal, and sends the signal to the control module of the detection sub-device, the control module of the detection sub-device performs information transmission with the communication module of the main console through the communication module, and the main console controls the dynamic identification total unit and the transmitting transducer to perform a dynamic identification process. According to the device, active and passive detection processes are combined, so that the underwater frogman detection process is more accurately carried out.

Description

Technical Field

[0001] This invention relates to the field of underwater detection devices, specifically to an underwater frogman detection sonar device and method based on beamforming technology. Background Technology

[0002] In recent years, with the continuous development of marine exploration and development, ports and harbors have become important targets for attack. In open wars between nations, mines can effectively prevent underwater attacks; however, in today's ongoing non-war conflicts, it is necessary to detect dangerous underwater targets in advance in order to take effective measures—politely requesting the other side to leave or launching a lethal counterattack. To address these underwater target monitoring needs, technologies such as frogman detection sonar and anti-frogman detection equipment are constantly being developed. Among these, existing technologies frequently use frogman detection sonar based on beamforming technology for underwater target detection and monitoring. Beamforming technology is an important array signal processing method in fields such as communications, sonar, and radar. It can determine the target's distance and direction by using information such as the target's incident direction and echo data, aligning the main lobe of the beam with the desired signal and the side lobes and nulls with interfering signals. This method can improve the signal-to-noise ratio of the output signal, thereby achieving optimal reception results under a certain standard. Currently, the detection range of frogman detection sonar has reached hundreds or even thousands of meters.

[0003] As disclosed in the invention publication (announcement) number CN114879202B, an underwater monitoring device and method based on beamforming technology is provided. The device includes a main control console and two frogman detection sonars. The main control console includes a processor, memory, communication module, power supply module, and alarm module. The frogman detection sonars are respectively deployed on the underwater bank walls on both sides of the port and communicate bidirectionally with the main control console. Each frogman detection sonar includes a transmitting transducer, a receiving transducer, a control module, a storage module, a communication module, and a power supply module. Each frogman detection sonar also includes a frogman identification unit and an infrared identification unit. The frogman identification unit includes a first identification module, a calculation module, a second identification module, and a target sample library. The infrared identification unit includes an infrared camera and an image recognition module. The underwater monitoring device and method based on beamforming technology provided in this application can comprehensively monitor the waters near the port and accurately identify the type of underwater target to be detected.

[0004] The aforementioned invention's frogman identification unit and infrared identification unit comprehensively monitor the waters near the port and accurately identify the type of underwater target to be detected, avoiding monitoring blind spots. However, its sonar actively sends detection signals to the potential target area and detects the target by detecting the echo signal. However, the high emission source level makes it difficult to achieve self-concealment of the sonar platform. Underwater frogman targets have low intensity and low navigation noise, which further increases the difficulty of detection and further amplifies the disadvantages of traditional sonar. Summary of the Invention

[0005] This invention claims priority. The earlier application was filed on November 20, 2024, with application number 202411659711X, and the receiving agency is China (CN).

[0006] The purpose of this invention is to provide an underwater frogman detection sonar device and method based on beamforming technology to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an underwater frogman detection sonar device based on beamforming technology, comprising a main control console and several detection sub-devices. The main control console is bidirectionally connected to each detection sub-device, and includes a communication module, a power module, a memory, a processor, and an alarm module. Each detection sub-device includes a static identification unit, a dynamic identification unit, a transmitting transducer, a receiving transducer, a control module, a storage module, and a communication module. The static identification unit includes a hydroacoustic sonar fiber optic matrix and an identification module. The identification module of the static identification unit is used to acquire the received signal and determine whether the signal-to-noise ratio (DT) of the received signal is greater than a preset target occurrence threshold. If the determination result is false, the received signal is determined to be a low-activity signal and the received signal is acquired again. If the determination result is true, it is determined that an underwater target to be detected has appeared, and the received signal is determined to be a non-low-activity signal. The signal is then sent to the control module of the detection sub-device. The control module of the detection sub-device transmits information with the communication module of the main control console through the communication module. The main control console controls the dynamic identification unit and the transmitting transducer to perform the dynamic identification process.

[0008] Preferably, the hydroacoustic fiber optic matrix of the static identification unit is distributed and installed in the waters on both sides of the port via a submersible or buoy, with each hydroacoustic fiber optic cable vertically positioned below the submersible or buoy.

[0009] Preferably, each of the submersibles or buoys is equipped with a sensor that matches the end positioner of the hydroacoustic sonar fiber, and each submersible or buoy is also equipped with a control unit, a communication unit, and a hydroacoustic sonar fiber drive module.

[0010] Preferably, the communication unit, hydroacoustic sonar fiber optic drive module, and power module of each of the submersibles or buoys are respectively connected to the control unit, and the hydroacoustic sonar fiber optic drive module includes a detection signal drive circuit.

[0011] Preferably, the hydroacoustic sonar fiber is used to receive underwater target information and generate relevant information through a detection signal driving circuit, which is then sent to the identification module of the static identification unit via the control unit and communication unit.

[0012] Preferably, the signal-to-noise ratio DT of the identification module of the static identification unit is determined by the following formula.

[0013]

[0014] The noise power at the output of the receiving transducer is determined in advance based on the inherent characteristics of the receiving transducer and the underwater acoustic environment in which the receiving transducer is located.

[0015] A method for using an underwater frogman detection sonar device based on beamforming technology as described in any of the above claims includes the following steps:

[0016] Step S1: Passive detection of the waters near the port is carried out through the static identification unit. The passive detection information is fused and processed to obtain the target passive detection result.

[0017] Step S2: Based on the passive detection results of the target, if a target is detected, the underwater target is actively detected according to the control command to obtain the target active detection information;

[0018] Step S3: The target active detection information and buoy position information are fused and located, and an alarm is triggered through the alarm module to obtain the final target detection result.

[0019] Compared with the prior art, the beneficial effects of this invention are as follows:

[0020] This invention provides an underwater sonar device and method for detecting underwater frogmen based on beamforming technology. It first passively detects the presence of a target and determines its approximate location, then actively detects the target's precise location. This distributed active-passive sonar joint detection method combines multi-node detection information fusion positioning technology. By organically combining the advantages of different detection technologies, it not only reduces the risk of the detection system being exposed and improves target positioning accuracy, fully ensuring the efficiency and accuracy of target detection, but also enables the system to meet the current needs for detecting and tracking weak underwater targets. Furthermore, it allows for the selection of appropriate detection methods based on actual conditions, enhancing the system's scalability. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the device of the present invention;

[0022] Figure 2 This is a flowchart of the present invention;

[0023] Figure 3 This is a simulation experiment diagram of Example 1 using a double-layered medium sphere as a frog lung model;

[0024] Figure 4 It is a function for detecting the morphology of the thoracic cavity using a sonar device. Variation with incident wave frequency and detailed diagram;

[0025] Figure 5 These are the time-domain and frequency-domain plots of the ideal echo signal from a double-layer dielectric sphere model.

[0026] Figure 6 This is a comparison of the time and frequency domains of the mixed noise echo signal of the double-layer dielectric sphere model;

[0027] Figure 7 This is the result of IMF decomposition of the noisy echo signal in Example 1. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Example

[0030] Please see Figure 1 The diagram illustrates an underwater sonar device for detecting frogmen based on beamforming technology. It includes a main control unit and several detection sub-devices. The main control unit is bidirectionally connected to each detection sub-device and includes a communication module, a power module, a memory, a processor, and an alarm module. Each detection sub-device includes a static identification unit, a dynamic identification unit, a transmitting transducer, a receiving transducer, a control module, a storage module, and a communication module. The static identification unit includes a hydroacoustic sonar fiber optic matrix and an identification module. The identification module of the static identification unit acquires the received signal and determines whether the signal-to-noise ratio (SNR) DT of the received signal is greater than a preset target occurrence threshold. If the determination result is false, the received signal is classified as a low-activity signal and the received signal is acquired again. If the determination result is true, it is determined that an underwater target has appeared, and the received signal is classified as a non-low-activity signal. The signal is then sent to the control module of the detection sub-device. The control module of the detection sub-device transmits information with the communication module of the main control unit through the communication module. The main control unit controls the dynamic identification unit and the transmitting transducer to perform the dynamic identification process.

[0031] In this embodiment, the processor of the main control console is bidirectionally connected to the communication module, and the processor communicates unidirectionally with the memory and alarm module respectively. It is powered by a power module, which has been fully disclosed in the prior art and will not be described in detail here.

[0032] Furthermore, the hydroacoustic fiber optic matrix of the static identification unit is distributed and installed in the waters on both sides of the port via submersibles or buoys. Each hydroacoustic fiber is vertically positioned below the submersible or buoy. Each submersible or buoy is equipped with a sensor that matches the end positioner of the hydroacoustic fiber. Each submersible or buoy is also equipped with a control unit, a communication unit, and a hydroacoustic fiber drive module. The communication unit, hydroacoustic fiber drive module, and power module of each submersible or buoy are respectively connected to the control unit. The hydroacoustic fiber drive module includes a detection signal drive circuit. The hydroacoustic fiber is used to receive underwater target information and generate relevant information through the detection signal drive circuit, which is then sent to the identification module of the static identification unit via the control unit and the communication unit. The signal-to-noise ratio DT of the identification module of the static identification unit is determined by the following formula.

[0033]

[0034] The noise power at the output of the receiving transducer is determined in advance based on the inherent characteristics of the receiving transducer and the underwater acoustic environment in which the receiving transducer is located.

[0035] See Figure 2 The flowchart below illustrates a method for using an underwater frogman detection sonar device based on beamforming technology, comprising the following steps:

[0036] Step S1: Passive detection of the waters near the port is carried out through the static identification unit. The passive detection information is fused and processed to obtain the target passive detection result.

[0037] Step S2: Based on the passive detection results of the target, if a target is detected, the underwater target is actively detected according to the control command to obtain the target active detection information;

[0038] Step S3: The target active detection information and buoy position information are fused and located, and an alarm is triggered through the alarm module to obtain the final target detection result.

[0039] Furthermore, the hydroacoustic fiber optic matrix of the static identification unit is distributed and installed in the waters on both sides of the port via submersibles or buoys. Each hydroacoustic fiber is vertically positioned below the submersible or buoy. Each submersible or buoy is equipped with a sensor that matches the end positioner of the hydroacoustic fiber. Each submersible or buoy is also equipped with a control unit, a communication unit, and a hydroacoustic fiber drive module. The communication unit, hydroacoustic fiber drive module, and power module of each submersible or buoy are respectively connected to the control unit. The hydroacoustic fiber drive module includes a detection signal drive circuit. The hydroacoustic fiber is used to receive underwater target information and generate relevant information through the detection signal drive circuit. This information is then sent to the identification module of the static identification unit via the control unit and the communication unit. The identification unit acquires the received signal and makes a judgment. If the signal-to-noise ratio (DT) of the received signal is greater than the preset target occurrence threshold, and the result is false, the received signal is classified as a low-activity signal and the received signal is reacquired. If the result is true, it is determined that an underwater target to be measured has appeared, and the received signal is classified as a non-low-activity signal. The signal is then sent to the control module of the detection sub-device. The control module of the detection sub-device exchanges information with the communication module of the main control station through the communication module. After receiving the information, the main control station controls the control module of the corresponding detection sub-device through the communication module. The control module controls the transmitting transducer according to the transmission command, and converts the transmitted signal in the form of an electrical signal into a directional underwater acoustic signal for transmission through beamforming. The process of actively detecting the target area has been fully disclosed in the prior art and will not be described in detail here.

[0040] Example 1

[0041] This experiment uses a double-layered medium sphere as a model of the frogman's lung (thoracic cavity), and the simulation experiment is as follows: Figure 3 As shown. The underwater frogman detection sonar device of this invention is used for detection, and the chest cavity morphology function is shown. Variation with incident wave frequency and details such as Figure 4 As shown.

[0042] The ideal echo signal of the double-layer dielectric sphere model is as follows: Figure 5 As shown, the echo signal with mixed noise is as follows: Figure 6 As shown.

[0043] IMF decomposition was performed on the noisy echo signal, and the results are as follows: Figure 7 As shown, the present invention can effectively eliminate noise interference.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An underwater frogman detection sonar device based on beamforming technology, characterized in that, include: The system comprises a main control console and several detection sub-devices. The main control console is bidirectionally connected to each detection sub-device and includes a communication module, a power module, a memory, a processor, and an alarm module. Each detection sub-device includes a static identification unit, a dynamic identification unit, a transmitting transducer, a receiving transducer, a control module, a storage module, and a communication module. The static identification unit includes a hydroacoustic sonar fiber optic matrix and an identification module. The identification module of the static identification unit acquires the received signal and determines whether the signal-to-noise ratio (DT) of the received signal is greater than a preset target occurrence threshold. If the determination result is false, the received signal is classified as a low-activity signal and the received signal is acquired again. If the determination result is true, it is determined that an underwater target to be measured has appeared, and the received signal is classified as a non-low-activity signal. The signal is then sent to the control module of the detection sub-device. The control module of the detection sub-device transmits information with the communication module of the main control console. The main control console controls the dynamic identification unit and the transmitting transducer to perform the dynamic identification process.

2. The underwater frogman detection sonar device based on beamforming technology according to claim 1, characterized in that: The hydroacoustic sonar fiber optic matrix of the static identification unit is distributed and installed in the waters on both sides of the port via submersibles or buoys, with each hydroacoustic sonar fiber vertically positioned below the submersible or buoy.

3. The underwater frogman detection sonar device based on beamforming technology according to claim 2, characterized in that: Each of the aforementioned submersibles or buoys is equipped with a sensor that matches the end positioner of the hydroacoustic sonar fiber, and each submersible or buoy is also equipped with a control unit, a communication unit, and a hydroacoustic sonar fiber drive module.

4. The underwater frogman detection sonar device based on beamforming technology according to claim 3, characterized in that: The communication unit, hydroacoustic sonar fiber optic drive module, and power module of each of the aforementioned submersibles or buoys are respectively connected to the control unit, and the hydroacoustic sonar fiber optic drive module includes a detection signal drive circuit.

5. The underwater frogman detection sonar device based on beamforming technology according to claim 4, characterized in that: The optical fiber of the hydroacoustic sonar is used to receive underwater target information and generate relevant information through the detection signal driving circuit, which is then sent to the identification module of the static identification unit via the control unit and communication unit.

6. The underwater frogman detection sonar device based on beamforming technology according to claim 5, characterized in that: The signal-to-noise ratio DT of the identification module of the static identification unit is determined by the following formula: , The noise power at the output of the receiving transducer is determined in advance based on the inherent characteristics of the receiving transducer and the underwater acoustic environment in which the receiving transducer is located.

7. A method of using an underwater frogman detection sonar device based on beamforming technology according to any one of claims 1-6, characterized in that, Includes the following steps: Step S1: Passive detection of the waters near the port is carried out through the static identification unit. The passive detection information is fused and processed to obtain the target passive detection result. Step S2: Based on the passive detection results of the target, if a target is detected, the underwater target is actively detected according to the control command to obtain the target active detection information; Step S3: The target active detection information and buoy position information are fused and located, and an alarm is triggered through the alarm module to obtain the final target detection result.

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