39 results about "Depth sounding" patented technology

The invention relates to a prefabricated square block mounting method, belongs to the technical field of wharf building construction, and aims to solve the problems of insufficient flatness of a foundation bed, large alignment deviation of prefabricated square blocks and poor seam sealing performance in a traditional mounting method. A trapezoidal tenon is pre-embedded in the bottom surface of the prefabricated square block and is matched with a groove in the top surface, and accurate embedding of the tenon and the groove is realized by combining sectional descending speed control of a crane ship, total station and RTK positioning data fusion deviation correction and underwater camera alignment confirmation; and after installation, scanning is conducted through a depth sounding system, a secondary leveling program is started, the wharf structure installation precision and the overall stability are improved, and the later settlement risk is reduced.

The invention relates to the field of laser water depth detection, in particular to a water surface fluctuation compensation method for laser sounding, and solves the problems of insufficient precision and water surface fluctuation interference in a traditional sounding technology in an extremely shallow water area. The measured water depth is corrected through the turbidity sensor, the IMU zero offset compensation sensor and the laser displacement sensor, and the purpose of improving the measurement accuracy is achieved. According to the scheme, the stability and precision of depth sounding of the extremely shallow water area are remarkably improved, and the method has high environmental adaptability and wide application prospects.

The invention relates to the technical field of ecological monitoring, in particular to a resident-free island resource monitoring method based on a spatial three-dimensional model, and the method comprises the following steps: S1, building a remote sensing image interpretation information base; s2, based on the remote sensing image interpretation information base, generating an island space three-dimensional model containing island land terrain and shoreline distribution; s3, generating a total element three-dimensional dynamic map; s4, the interpretation result and the total element three-dimensional dynamic map in the S3 are superposed, and a reef area comprehensive distribution map is generated; s5, calculating the island resource development intensity and the ecological risk level, and outputting an island ecological assessment report; and S6, generating an island resource monitoring report. According to the invention, unmanned aerial vehicle aerial survey, GNSS measurement, depth sounding technology, image interpretation and ecological assessment are combined, a high-precision total-factor three-dimensional dynamic monitoring system is constructed, accurate analysis and visual expression of the current island resource utilization situation are realized, and scientific decision support is provided for island management and ecological protection.

This invention provides an in-situ stratified rapid sampling device and method for river and lake sediment pollution, relating to the field of river and lake sediment pollution monitoring technology. The device includes: a main control system, a main sampling system, a mounting frame, a depth sounding module, a working vessel hull, and a crane. The depth sounding module is installed below the stern of the working vessel hull. The main control system and the crane are both mounted on the working vessel hull. The main sampling system is connected to the crane and fixed within the mounting frame. The depth sounding module is used to detect and determine water depth and the thickness of floating mud, flowing mud, and silt. The main control system is used to control the sampling process of the main sampling system and to read the water depth, sediment thickness, and determine whether the main sampling system has completely inserted into the sediment in real time. The main sampling system is used to insert into the sediment to perform stratified sampling of the sediment pore solution. This invention solves the problems of low sampling rate, inability to perform stratified sampling, deviation between stratified sediment samples and actual conditions, low efficiency, and large errors in detection results in existing technologies.

The invention belongs to the technical field of underwater measurement systems, and particularly relates to a novel unmanned aerial vehicle mounting type water depth measurement system which comprises an unmanned aerial vehicle platform, a GPS-RTK module, a photographing lens, a detection host, a data transmission line, a depth measurement probe, a data recording trigger device and a ground control station. The GPS-RTK module, the photographing lens and the detection host are all mounted on the unmanned aerial vehicle platform; the detection host is connected with the sounding probe through a data transmission line. Through real-time differential positioning of the GPS-RTK module, centimeter-level positioning precision can be provided, the position accuracy of sounding data is ensured, compared with traditional shipborne GPS positioning, the precision is improved by one order of magnitude, the unmanned aerial vehicle platform is matched to reach water areas where traditional ships cannot reach, such as shoals, narrow riverways and upstream of reservoirs, and the unmanned aerial vehicle platform is matched with the unmanned aerial vehicle platform to reach the water areas where the traditional ships cannot reach. The application range of sounding is greatly expanded, and meanwhile, the hovering capability and the accurate controllability of the unmanned aerial vehicle enable the sounding operation to be more flexible and efficient.

The invention relates to the technical field of ocean engineering, and discloses a special-shaped steel pipe pile combined structure for complex seabed terrains, which comprises a plurality of steel pipe pile bodies and a seabed detector, and lock catch connecting mechanisms are arranged on the side surfaces of the plurality of steel pipe pile bodies; the lock catch connecting mechanisms are used for connecting and locking every two of the multiple steel pipe pile bodies, purlin frames are arranged on the inner sides of the multiple steel pipe pile bodies, a detection system is arranged in the seabed detector, and the detection system comprises a multi-beam sounding module used for obtaining three-dimensional topographic data of the seabed; the acoustic disturbance transmitting module is used for transmitting an acoustic disturbance pulse to a target point of the seabed; and the tracking imaging sonar module is used for collecting a seabed dynamic response image sequence triggered by the acoustic disturbance pulse. According to the method, in-situ fine investigation and structure differentiation design are combined, engineering materials are distributed according to needs, and on the premise that the structure safety is guaranteed, the engineering cost is reduced, and the construction efficiency is improved.

The application discloses a kind of silt deposition condition monitoring method, device, electronic equipment and medium, it is related to silt deposition monitoring technical field.The method comprises: establishing the BIM model of hydropower station engineering by three-dimensional design software;Multiple sonars are laid along dam axis direction in dam front dam surface of hydropower station engineering according to preset interval, and point cloud data is obtained by sonar;According to point cloud data, obtain deposition section information;Deposition section information is superimposed to BIM model;The route of unmanned ship is planned according to the result of grid processing to conventional detection area;Drive unmanned ship to sail along route, obtain underwater silt deposition feature point three-dimensional information;Drive unmanned ship to hover at hovering measurement point, and obtain deposition three-dimensional information of hovering measurement point by single-beam depth sounding system and positioning system;Underwater silt deposition feature point three-dimensional information and deposition three-dimensional information are superimposed to BIM model.The method can track and accurately detect silt deposition condition in real time.

The invention discloses a high-resolution internal wave sound velocity field inversion method based on propagation time delay, relates to the technical field of ocean observation, and aims to solve the problem that fine changes of a sound velocity field under internal wave driving cannot be effectively captured in the prior art. And cumulative observation results at different times are equivalent to multiple groups of virtual nodes and virtual observation networks at the same moment, so that high-resolution inversion of an internal wave sound velocity field is realized, and fine changes of the sound velocity field driven by internal waves are effectively captured. The defect that satellite observation lacks deep information is overcome, and full-water-depth sound velocity field observation can be achieved.

The invention discloses a sand dredger sand excavation behavior real-time monitoring device based on a multi-beam system. The monitoring device comprises a satellite signal receiving module, a multi-beam sounding module, an information processing module, a communication module and a power control module. The satellite signal receiving module is used for receiving Beidou satellite signals; the multi-beam depth sounding module comprises a multi-beam depth sounder used for transmitting and receiving water depth detection sound waves and an attitude sensor used for collecting attitude data of the ship body; the information processing module is used for carrying out position calculation, topograph calculation and sand excavation amount calculation; the communication module communicates with a ground control center and sends the terrain and the sand excavation amount of the measured position in real time; the power controller is used for automatically cutting off a power system of the sand dredger after the sand excavation amount exceeds the limit, and real-time control over the sand excavation behavior is achieved. The behavior of the sand dredger can be monitored in real time, and the over-mining behavior can be controlled in real time; and when a plurality of ships carry out sand excavation operation at the same time, the sand excavation amount of each ship can be distinguished, and accurate control is achieved.

The present invention discloses a multi-channel depth sounding waveform decomposition method and system combined with morphological priors, the method comprising: collecting multiple groups of waveform data of shallow water channels and deep water channels; calculating the eigenvalues ​​of each group of waveform data and constructing an eigenvector matrix; standardizing the eigenvalues ​​of each dimension in the eigenvector matrix to obtain standardized data; considering a Gaussian kernel function, substituting the standardized data into a support vector machine algorithm to train a classification model, and selecting a pulse broadening coefficient z according to the classification model; based on the pulse broadening coefficient z, using a Gaussian kernel function to fit the water surface and water bottom; fitting the water surface and water bottom according to the Gaussian kernel function to obtain the echo position of the Gaussian function and calculate the water depth. The advantages of the present invention are: improving the efficiency, accuracy and stability of water depth measurement.

The application provides a kind of airborne laser radar depth system intensity data extraction method and system, first to the intensity data obtained by airborne laser radar depth system;Through the feature extraction based on full waveform data and the setting of judging condition to identify the invalid waveform disturbed by noise, and then eliminate the corresponding invalid intensity data;Through the water-land segmentation based on satellite-borne multispectral image data auxiliary, the water-land range segmentation of airborne laser radar intensity data is realized;For water area range data, based on full waveform data decomposition, only the water surface reflection echo waveform of water surface echo is identified, and then the corresponding intensity data is eliminated, and finally the intensity data that can effectively represent the attributes of land and seabed objects is obtained without the interference of mixed intensity data, which is helpful for further object recognition, classification and segmentation.

This invention relates to the field of laser signal processing technology, and discloses a method, system, terminal, and storage medium for shallow water depth estimation based on asynchronous observation and scanning angle correction. The method includes: performing multiple asynchronous observations of a land target area for error optimization processing, then performing asynchronous observations of an underwater target area and extracting multiple key point pairs to construct a sparse correspondence; using the sparse correspondence to construct multiple distance values, and further selecting multiple initial key point pairs with consistent distances; performing structural consistency screening on the initial key point pairs and constructing difference values ​​to optimize the estimated water depth value. This invention is based on the spatial detection principle and point cloud solution method of an airborne single-band depth sounding system, avoiding the error influence between multi-source heterogeneous data detection results from multi-system integration, and effectively improving the ground detection accuracy and integrated land-water detection capability of the airborne blue-green lidar depth sounding system.

The application discloses a passive depth measuring device, which comprises a supporting assembly and a depth measuring assembly. When depth measurement is needed, the depth measuring rod in the depth measuring assembly is released, the depth measuring rod rotates around the supporting assembly, the free end of the depth measuring rod enters into the salt mine brine and contacts the bottom of the salt pond. Since the length of the depth measuring rod is relatively long, the depth measuring rod is in an inclined state. An angle sensor can monitor the rotating angle of the depth measuring rod, and the depth of the salt layer can be obtained after calculation. When the water mining machine sails, the free end of the depth measuring rod contacts the bottom of the salt pond. When the convex and concave parts on the bottom of the salt pond are encountered, the depth measuring rod can be released after relatively large elastic deformation and restore the original shape. The rotating angle of the depth measuring rod is monitored by using the angle sensor, the depth of the salt layer can be monitored in real time, the problem that the non-contact sensor cannot measure due to the fact that there are many suspended matters in the salt lake and the surface is easy to be salted is solved, and the working reliability of the depth measuring device is improved.

The application discloses an egg circle type scanning laser radar wave refraction correction error correction method, belongs to the technical field of airborne laser depth sounding, and is used for wave refraction correction of underwater terrain measurement of an airborne laser radar and comprises the following steps: filtering and processing sea surface point clouds by adopting a statistical outlier removal filtering method; extracting a sea surface slope normal vector corresponding to each point by adopting an optimized moving least square method; simplifying an egg circle type scanning laser radar measurement process to be carried out in a carrier coordinate system; constructing a refraction correction model by using Snell's law and a vector decomposition method; and obtaining corrected sea bottom point cloud coordinates. The application removes noise from sea surface point cloud data, fits the measured sea surface point cloud by using a moving least square method, adopts characteristic decomposition of a covariance matrix instead of polynomial fitting, and thus, the calculation is simple, polynomial fitting errors are avoided, the process is greatly simplified by using vector decomposition calculation, and there is only a single solution.

This invention discloses a depth sounding device, comprising a mounting assembly, a depth sounding assembly, and a drive assembly. The mounting assembly is connected to a water sampling machine and provides stable support for both the depth sounding assembly and the drive assembly. The depth sounding assembly comprises a first connecting rod, an upper rocker arm, a second connecting rod, and a lower rocker arm, forming a parallelogram mechanism. The first and second connecting rods are parallel to the vertical direction. The drive assembly rotates the upper rocker arm, thereby using the parallelogram mechanism to move the depth sounding rod vertically to measure the depth of the brine. An angle sensor monitors the rotation angle of the upper rocker arm and calculates the brine depth. This depth sounding device, fixed to the water sampling machine by the mounting assembly and driven by the drive assembly, improves the efficiency of depth sounding, reduces the workload of operators, and extends the service life of the device by monitoring the rotation angle of the upper rocker arm with the angle sensor.

This invention provides a method for correcting intensity anomalies in automatic gain control of an airborne laser depth sounding system, comprising: establishing an index sharing mechanism; segmenting the area to be scanned to obtain land point clouds, water surface point clouds, and underwater point clouds; removing coordinate data, intensity data, and emission angle parameters corresponding to the water surface point clouds based on the index sharing mechanism to obtain the removed data; segmenting the coordinate data and intensity data corresponding to the removed point clouds according to the emission angle parameters, based on the index sharing mechanism, to determine the intensity compensation anomaly scanning areas; and correcting the intensity of each scan line in each intensity compensation anomaly scanning area according to a neighborhood joint weighting method to obtain the corrected image. This invention solves the problem in the prior art of local intensity anomalies in the intensity data of ground features in coastal areas with many high-return and low-return targets, such as exposed rocks and water bodies.

The invention provides an unmanned ship water depth measuring method, the unmanned ship is provided with a first positioning device, a second positioning device and a depth measuring device, and the method comprises the following steps: according to the positions of the first positioning device and the second positioning device, determining the depth of the unmanned ship; determining a plane distance and a height difference between the first positioning device and the second positioning device; determining the trim angle of the unmanned ship according to the plane distance and the height difference; measuring an initial water depth value of the unmanned ship through the depth measuring device; according to the trim angle and the initial water depth value, the water bottom gradient is determined; and determining a corrected water depth value of the unmanned ship according to the trim angle, the initial water depth value and the water bottom gradient. According to the scheme provided by the invention, the precision and reliability of the water depth measurement of the unmanned ship can be improved, the measurement of underwater abrupt terrains such as channel slopes and underwater submerged reefs is more accurate, the plane position deviation of the water depth point caused by the trim angle of the unmanned ship is effectively avoided, and the real water depth value of the corresponding point position is obtained.

The invention relates to the technical field of ocean remote sensing monitoring, and particularly discloses an island shallow sea topographic surveying and mapping method based on active-passive remote sensing fusion, which comprises the following steps of: 1, acquiring active-passive data; 2, performing data preprocessing on the active data and the passive data respectively; 3, constructing an optical image data set; and 4, constructing a water depth inversion model based on the water depth data and the optical image data set. According to the method, the advantages of wide coverage of passive remote sensing and high precision of active remote sensing are fused, and the water depth information of shallow sea islands and reefs can be accurately obtained in a large-area range. In practical application, complex professional equipment does not need to be arranged, a large amount of manpower does not need to be input, the operation cost and difficulty are greatly reduced, depth sounding and surveying and mapping tasks of the shallow sea island reef area can be rapidly completed, and practicability is high. The problems in the prior art that shallow sea island monitoring is difficult, the cost is high, and the requirement for the monitoring environment is high are solved.

The invention discloses an active inversion method of a typical deep sea sound velocity profile based on a reliable sound path, and relates to acoustic inversion of marine environment parameters. The method comprises the steps that based on ocean mode data or measured data, a sound propagation model is combined, and a sea surface scattering echo arrival pitch angle and arrival time two-dimensional curve under different deep sea sound velocity profiles is obtained through simulation; a vertical receiving array carrying an active sound source is arranged at the bottom of a deep sea, and sea surface scattering echoes obtained by active emission are subjected to beam forming to obtain actually measured sea surface scattering echo arrival pitch angle and arrival time two-dimensional curves; comparing the two curves to obtain sound velocity profile expression parameters under the optimal matching of the two-dimensional curve, and obtaining deep sea sound velocity profile estimation by using the expression parameters. And a full-water-depth sound velocity profile can be obtained without covering a measurement system of a whole water body. A traditional receiving and transmitting split double-subsurface buoy system does not need to be used for obtaining a deep sea water sound velocity profile between receiving and transmitting, and deep sea sound velocity profile estimation can be achieved by placing a single receiving and transmitting assembly on a system on the seabed.

This invention discloses a method for classifying coral reef substrate based on the fusion of lidar and side-scan sonar data, mainly including the following steps: (1) By analyzing the structure of the photon-counting lidar scanning system, a precise calculation model for the coordinates of underwater depth sounding points of UAV-borne lidar is constructed; (2) Through fine processing steps such as seabed line tracking and joint correction of radiation distortion, a geocoded side-scan sonar image is constructed; (3) The backscattering intensity of lidar and side-scan sonar is fused to construct a seabed topographic image; (4) The standard wavelet BP neural network is improved; (5) Based on the fused image, coral reef species samples are extracted, and feature parameters with high self-cohesion and resolution are selected for sample training. The sample training results are used to classify the coral reef substrate in the fused image. Through the above steps, coral reef substrate classification based on the fusion of lidar and side-scan sonar data can be realized, providing technical support for identifying coral reef types.

This invention discloses a method and device for detecting weak signals in spaceborne lidar depth sounding that takes into account terrain continuity. It is used in a two-stage depth photon extraction method based on terrain continuity constraints. After underwater photon extraction, the method reduces density differences along the track through point cloud homogenization and scaling transformation, laying the foundation for subsequent two-stage underwater photon extraction. The first stage uses a globally adaptive density threshold to extract high-reliability underwater terrain photons. In the second stage, weak underwater terrain photons are recovered by propagating terrain continuity constraints from the high-reliability underwater terrain photons, ultimately obtaining a complete depth point cloud data map displaying the seabed topography. This method utilizes terrain continuity as a strong constraint and further improves the density distinction between weak depth signals and noise by using an enhanced density index. It can robustly recover valuable weak signals that traditional methods often miss in complex environments with high-density noise and sparse signals.

The utility model discloses an overwater cast-in-place pile hole depth measuring device, which belongs to the technical field of constructional engineering construction, and comprises a measuring rope and a shell connected with the measuring rope, and the shell is provided with a drilling machine assembly used for drilling into slurry and an ultrasonic sounding assembly used for measuring the depth of the slurry. According to the utility model, the shell is provided with the ultrasonic sounding assembly, and the ultrasonic sounding assembly is brought into a hole for measurement, so that the hole depth measurement accuracy is improved; the drilling machine assembly is convenient to drill into a sticky slurry layer and brings the shell into the slurry layer and stabilizes the shell in the slurry layer, the influence of different densities of water and the slurry layer is reduced, the situation that the shell shakes and influences work of the ultrasonic sounding assembly can be prevented, and the measurement accuracy of the ultrasonic sounding assembly is improved; the driving assembly can drive the probe of the ultrasonic sounding assembly to move to the position lower than the drill bit, the influence of the drill bit on sound waves is reduced, and the measurement accuracy is high.

The invention discloses a depth finder for marine surveying and mapping, which comprises a mounting base, a fixing pin and a mounting frame, the top of the mounting base is movably provided with the fixing pin, the fixing pin extends to the bottom of the mounting base, the top of the mounting base is fixedly provided with the mounting frame, and one side of the mounting frame is provided with an adjusting assembly. The bottom of the adjusting assembly is provided with a winding assembly, the bottom of the winding assembly is provided with an anti-collision assembly, and the bottom of the anti-collision assembly is provided with a depth measuring assembly. According to the invention, adjustment can be carried out above the threaded rod through a positioning nut, the transducer is driven to be adjusted, and the position of the transducer placed in the ocean can be adjusted; and through the sliding block, impact force can be buffered by means of the elasticity of the spring, collision caused by external influence in the ocean can be buffered, the transducer can be protected conveniently, the service life of the depth finder can be prolonged, and the surveying and mapping effect of the depth finder is better.

This invention discloses a seabed topography inversion method based on a fully connected deep neural network, comprising: acquiring shipborne depth sounding data and performing data preprocessing; acquiring a gravity anomaly dataset, decomposing the gravity anomaly field into long-wave and short-wave components, fitting the difference to obtain residual long-wave and residual short-wave gravity anomalies; constructing a sea-depth inversion model, using the gravity anomaly data and latitude and longitude data as input; training the sea-depth inversion model with the neural network through shipborne depth sounding data, outputting sea-depth inversion results, and evaluating and optimizing the accuracy of the sea-depth inversion model. This invention improves the accuracy of seabed topography inversion by combining shipborne depth sounding data, long-wave gravity anomaly data, short-wave gravity anomaly data, residual short-wave gravity anomaly data, and residual long-wave gravity anomaly data. Using a fully connected deep neural network model further enhances the model's inversion capability, enabling the model to more accurately capture topographic changes and achieve superior depth inversion accuracy.

This invention discloses a high-density depth sounding device, relating to the field of measurement. The device includes electrodes and cables. The electrodes include at least one set of power supply electrodes and their corresponding measuring electrodes. A first, second, and third power supply electrode are configured as a set of power supply electrodes. A current focusing effect is formed between the first, second, and third power supply electrodes. This current focusing effect enhances the electric field generated by the power supply electrodes, increases the current density, reduces the device's susceptibility to external environmental influences, improves the signal-to-noise ratio and anti-interference capability, and ensures the accuracy and reliability of the measurement results. The cables include power supply cables and measuring cables. Separating the power supply cables from the measuring cables enhances measurement flexibility and makes it easier to meet the high-precision measurement needs during construction.

This invention discloses a novel single-beam echo sounder and its attitude compensation method. The single-beam echo sounder integrates a high-precision attitude module, which uses attitude information to calibrate depth and position. The method includes the following steps: controlling the transmission of acoustic waves and collecting seabed echoes using the single-beam echo sounder; GNSS transmits high-precision positioning information and PPS (Precision Per Second) pulses in real time to the wet-end sonar probe, while the probe simultaneously receives attitude information from the built-in attitude module. The above information is then processed comprehensively and uploaded to the dry-end host computer software; the obtained time interval is proportional to the distance from the sonar transducer to the riverbed or seabed; a smoothing window is used for water depth filtering; and attitude, position, pitch, and roll compensation calculations are performed. This invention, with its built-in high-precision attitude module, integrates high-precision GNSS information and PPS high-precision pulses, significantly improving both depth sounding and positioning accuracy.

This invention relates to the field of depth sounding, specifically to a supporting device and a high-precision sonar depth sounding method for improving sonar depth sounding accuracy. The device includes a pole assembly, a connecting seat, a cable assembly, a pole stabilizer, a mounting frame, and a rotating gimbal. The pole assembly is vertically positioned and fixedly connected to the survey vessel via the connecting seat, resting on the side of the vessel. The sonar detector is mounted at the bottom of the pole assembly, the antenna at the top, and an angle attitude sensor is mounted in the upper middle section of the pole assembly, close to the antenna. The distance between the angle attitude sensor and the sonar detector is more convenient, reducing sonar measurement errors. The cable assembly ensures the stability of the sonar detector during dynamic navigation, reducing swaying caused by ocean currents and improving the stability of sonar measurements. The rotating gimbal enables multi-degree-of-freedom rotation of the sonar detector, allowing for vertical scanning while maintaining depth measurement capabilities.

The invention belongs to the technical field of depth sounding measurement, and provides an airborne LiDAR depth sounding flight strip adjustment method and system without control conditions, and the technical scheme is that the method comprises the steps: extracting an overlapping region between flight strips, and limiting a point-surface matching range; determining approximate homonymy points by constructing a triangulation network and matching the triangulation network with adjacent air strip points, establishing a relation between air strips, optimizing matching by adopting an RANSAC algorithm, constructing a regional network air strip adjustment model, and solving an optimal transformation matrix of the air strips; a polynomial curved surface is used for expressing the complex terrain, and according to the point-surface matching distance and the minimum solving polynomial coefficient, correction values of all points are calculated for correction. According to the airborne LiDAR sounding data processing method, airborne LiDAR sounding data is taken as a data basis, and after the airborne LiDAR sounding data is processed by the air strip adjustment model, the internal and external conformance precision of the airborne LiDAR sounding data can be effectively improved, and an effective solution is provided for optimizing the quality of the airborne LiDAR sounding data under a control-free condition.

The invention provides a beam-controlled emission pitch angle design method for continuous tracking of a look-up active target, a multi-path arrival structure for receiving near sea surface target receiving sound rays including direct sound and sea surface primary reflection sound under a deep sea look-up active detection background is mainly researched, and an internal mechanism of correlation between a pitch angle and target distance change is analyzed. Aiming at the specific background of deep-sea look-up active detection, firstly, the research basis of deep-sea large-depth sound propagation characteristics and sound field correlation is fully utilized, and target information carried by an excavated deep-sea sound field echo space-time multi-path arrival structure is utilized, so that an emission angle is firstly changed to reach an expected distance emission beam control angle of a next emission period; therefore, more accurate positioning of the target is realized, and continuous tracking of the target is realized by circulating the process.