224 results about "Direct wave" patented technology

The invention relates to the technical field of power system fault positioning, in particular to a power distribution network fault accurate positioning method, device and system based on the traveling wave principle, and the method comprises the steps: deploying traveling wave detection equipment at two ends of a certain section of line of a power distribution network, and enabling the traveling wave detection equipment to be used for synchronously collecting potential fault traveling wave signals; analyzing based on the acquired potential fault traveling wave signal, and screening out a fault traveling wave; in the time union set of the local time windows at the two ends, marking the fault traveling wave with the maximum peak value in the single end as a direct wave, analyzing the waveform similarity between the direct wave and the fault traveling wave arriving after the direct wave, and screening out a reflected wave according to the peak value difference; and based on the arrival time of the direct waves and the reflected waves at the two ends, calculating the distance from the fault point to the two ends of the line through a positioning formula to position the fault point. The invention aims to improve the positioning precision of the fault point in the power distribution network by analyzing the distribution characteristics of the pseudo traveling wave signal.

The invention provides an underwater positioning system combining sound ray propagation modeling and multipath interference suppression, which relates to the technical field of marine equipment and comprises a self-adaptive underwater sound sensing and environment cognition module, an environment self-adaptive sound ray propagation modeling module, a multipath suppression and direct wave extraction module and a multi-dimensional information fusion and self-adaptive positioning calculation module. The self-adaptive underwater sound sensing and environment cognition module is used for realizing multi-mode sensing and real-time environment feature recognition of underwater sound signals, and the environment self-adaptive sound ray propagation modeling module is used for constructing a dynamically updated sound wave propagation model and providing a propagation path and time constraint for positioning calculation; the multi-path suppression and direct wave extraction module is used for carrying out multi-path signal separation and extracting direct wave features with confidence marks, and the multi-dimensional information fusion and self-adaptive positioning calculation module is used for completing high-precision positioning calculation; according to the system, deep fusion of an environment model and signal processing can be realized, and the positioning precision and robustness of the underwater vehicle in a complex underwater sound environment are remarkably improved.

The invention discloses a BIM (Building Information Modeling)-based large-span post-tensioned bonded prestressed beam construction method. The BIM-based large-span post-tensioned bonded prestressed beam construction method comprises the following steps: collecting a vibration signal of a working rib and a matt rib reference signal of a matt rib; inputting the dummy rib reference signal into an adaptive filtering algorithm to which phase preserving constraint is applied, and performing noise cancellation processing on the working rib vibration signal to generate a purified pressure wave signal; performing multi-scale decomposition on the purified signal, extracting propagation time delay of the direct wave based on coherence analysis among components, and generating a phase-time delay characteristic matrix; and based on pre-configured geometric parameters of the BIM three-dimensional model, a real-time stress distribution field is calculated through inversion according to the phase-time delay characteristic matrix, and the real-time stress distribution field is synchronously updated to the BIM three-dimensional model. According to the method, the phase distortion problem under noise interference is solved through a physical reference channel and phase preserving filtering, the accuracy of time delay extraction is improved through a multi-path separation technology, and high-precision and high-robustness real-time monitoring of the prestress is achieved.

The invention discloses a bionic joint humanoid robot navigation positioning method, device and equipment, and the method comprises the steps: monitoring a landing shock wave signal and reflection echo data of a robot, carrying out the time domain expansion of the shock wave signal to form a pulse characteristic spectrum, extracting multipath propagation components, and carrying out the time difference correlation to generate an environment response value. Screening a direct wave component by using an environmental response value, positioning a sound wave propagation trajectory, and detecting impedance mutation to construct an acoustic matrix. A strong reflection zone is identified through node analysis, a sound pressure gradient field is extracted to determine an obstacle boundary, and a landmark feature bit is determined in combination with an environmental response value. And adjusting a dynamic stride frequency interval based on a landmark feature bit, forming an adaptive detection sequence, and performing sparse processing to construct path configuration. The mechanical vibration component of the shock wave signal is used for piezoelectric conversion to generate recycled electric quantity, the recycled electric quantity is matched with path configuration power to determine a sensing period, intermittent sensing is executed to obtain detection data to construct a detection convergence field, and finally an accurate positioning window is determined and converted into position coordinates.

The invention discloses a deep rock mass fracture imaging method and system based on micro-seismic monitoring, and belongs to the technical field of geophysical exploration, and the method comprises the steps: collecting multi-channel micro-seismic event waveform data, obtaining a main seismic phase direct waveform and a scattering tail waveform through wave field separation, and carrying out the imaging of a deep rock mass fracture. Determining a three-dimensional space coordinate and an energy distribution form of the seismic source through joint inversion, carrying out clustering analysis, and constructing an initial three-dimensional space distribution form; each seismic source is regarded as an active excitation source, a scattering tail wave waveform is regarded as a reflection signal, scatterer three-dimensional point cloud data is generated through reverse time migration processing, analysis is carried out in combination with an initial three-dimensional space distribution form, and an enhanced fracture structure is formed; and finally, through topology analysis and orientation clustering, discrete scatterers are eliminated, and a fracture development map is generated. According to the method, a technical path of combining a main seismic phase direct wave inversion seismic source and a scattering tail wave inversion scatterer is adopted, high-precision and high-fidelity imaging of a deep rock mass movable fracture can be realized, and physical activity is revealed.

The invention belongs to the technical field of earth exploration, and relates to an underground imaging method based on a reformed Marchenko method, which comprises the following steps: removing direct waves from seismic data, and carrying out seismic deconvolution to obtain preprocessed seismic data; selecting an underground imaging point, setting the underground imaging point as an underground focus point, and estimating a direct wave Green function from the underground focus point to a ground surface receiving point according to a background speed model; the direct wave Green function is reversed on a time axis to serve as an initial downlink focusing function, and an initial uplink focusing function is set to be zero; and performing iterative calculation according to the initial downlink focusing function and the initial uplink focusing function to obtain a downlink focusing function and an uplink focusing function after iteration, calculating a downlink green function and an uplink green function according to the uplink focusing function and the downlink focusing function, and imaging the underground imaging point. According to the method, iteration absolute convergence can be ensured by mediating convergence parameters, and finally an underground imaging result which is not influenced by multiple waves is obtained.

The invention provides a continuous wave sonar direct wave suppression method, device and equipment and a storage medium, and the method comprises the steps: intercepting a target segment signal from a received signal, the target segment signal being composed of continuous Nw sampling points in the received signal; an estimation channel corresponding to the target segment signal is solved through a basis tracking algorithm, a dictionary matrix of the basis tracking algorithm is an Nw * Nw Toeplitz matrix, the first column is the first to Nw sampling points of the transmitted signal, and the second to Nw elements of the first row are zero; if the current estimation channel meets a judgment condition, the current estimation channel is determined as a final channel, and the judgment condition includes that the maximum element value in the estimation channel is larger than a first threshold value; reconstructing a direct wave and a multipath signal thereof according to the transmitted signal and the final channel; and subtracting the direct wave and the multipath signal thereof from the received signal to obtain a suppression result. According to the invention, on the premise of ensuring that the target echo energy is not lost, the sidelobe interference of the direct wave is effectively eliminated.

The invention discloses a polyethylene pipe microwave defect detection system based on a multi-dimensional movement mechanism. The method comprises the steps that firstly, full-coverage scanning of a welding area is achieved through a clamp and a control device, and microwave reflection signals of a welding joint are collected and subjected to amplification, filtering and normalization processing; converting the frequency domain signal into a time domain B-scan image by using inverse fast Fourier transform (IFFT), and effectively inhibiting direct waves and high-frequency noise by using a wavelet transform threshold denoising method so as to enhance defect reflection characteristics; on the basis, the system can identify and position typical defects such as holes, slag inclusion, incomplete fusion and the like, and visual visualization of defect positions and forms is realized through the information display module. The system is compact in structure and high in detection precision, has the advantages of high automation degree, wide application range, simplicity and convenience in operation and the like, can realize rapid and accurate detection of weld defects of the polyethylene pipeline, and provides reliable technical guarantee for pipeline quality evaluation and safe operation.

The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle autonomous fixed-point landing control method based on an ultrasonic array algorithm, and the method comprises the steps: dividing the landing process of an unmanned aerial vehicle into a normal flight stage, a deceleration approaching stage and a near-ground landing stage, starting an ultrasonic beacon array in the approaching flight stage, and confirming the availability of a landing point; a horizontal azimuth angle, a yaw angle and a relative distance are calculated in real time in a deceleration approach stage to perform landing guidance, direct waves and multi-path reflection signals are analyzed in a near-earth landing stage, characteristic parameters such as time delay inequality and phase offset are extracted, an environment reflection space model is reversely constructed, then positioning correction is calculated, a pose fine adjustment instruction is generated, and the attitude fine adjustment instruction is subjected to attitude fine adjustment. And precise fixed-point landing of the unmanned aerial vehicle is realized. According to the method, high-precision positioning is kept under complex environment disturbance, and the stability, accuracy and efficiency of fixed-point landing of the unmanned aerial vehicle in a complex environment are improved by converting the multipath effect from an interference source to available positioning information.

The invention relates to a diffracted guided wave-based metal cylinder crack detection method, which comprises the following steps of: axially arranging a sensor array on a metal cylinder in an array manner, and collecting signals of all sensing paths; the sensing path is a connecting line between each excitation sensor and each receiving sensor; preprocessing each received path signal, judging a direct wave and a diffracted wave, and constructing a damage index of each sensing path on the basis of the amplitude difference between the diffracted wave and the direct wave; according to the signal and the damage index of each sensing path, drawing a total damage path diagram in the whole detection range, counting intersection points of each damage path and calculating the damage index of the corresponding intersection point; an improved clustering algorithm is utilized to obtain effective damage intersection points and a weighted centroid, and a damage area of the metal cylinder is delimited based on the damage intersection points around the weighted centroid through a convex hull algorithm. Compared with the prior art, the method has the advantages that dependence on health reference data can be eliminated, the calculation complexity is effectively reduced, and the detection efficiency is improved.

The invention provides a 2D-MUSIC beam line damage positioning method and system, and relates to the technical field of material safety monitoring. By collecting reference guided wave signals at different temperatures, amplitude-phase changes of direct waves of all sensor channels are analyzed, and a temperature-induced amplitude-phase error matrix is constructed; the error matrix is introduced into a two-dimensional multiple signal classification (2D-MUSIC) algorithm, an ideal steering vector is corrected, and a spatial spectrum under an actual propagation model is reconstructed; a cost function is established in combination with noise subspace characteristics, and high-precision and high-robustness positioning of tiny damage is realized through iterative optimization and synchronous inversion of damage positions and channel error parameters. According to the method, the applicability and the positioning accuracy of the 2D-MUSIC algorithm in a variable-temperature environment are remarkably improved.

The invention discloses a dual-frequency ground penetrating radar underground target saliency feature fusion method, which comprises the following steps of: before target feature detection, removing a direct wave strong interference signal in GPR echo data; designing a semantic feature extraction model, fusing a channel attention SE module and a space attention PSANet module into a feature extraction network, and adding phase consistency loss and phase change region gradient loss into a loss function during network model training; transpose convolution is carried out on the extracted low-frequency-band semantic feature map in the double-frequency GPR data, upsampling is carried out to the scale of the high-frequency-band semantic feature map, and high-frequency-band and low-frequency-band feature fusion is carried out. According to the fusion method, the high-frequency-band GPR echo signal contains target information with higher resolution, the low-frequency-band GPR can detect a target located at a deeper position underground, the contradiction problem between the GPR detection depth and the detection precision is effectively solved, and the method has the advantages of being high in precision and robustness.

The invention discloses a target detection system and method applying a millimeter wave radar, and relates to the technical field of target detection, and the system comprises a millimeter wave radar detection module, an auxiliary sensing module, a signal processing module and a data interaction module. The millimeter wave radar detection module is used for collecting direct millimeter wave signals and multipath reflection wave mixed signals through a radar. The auxiliary sensing module is used for acquiring a scene image and a vehicle motion state through a high-definition camera and an inertial measurement unit; the signal processing module is used for carrying out feature extraction and space-time filtering optimization on the collected signals; the data interaction module is used for outputting a target detection result; according to the invention, the direct wave signal and the multipath reflection wave signal in the collected signals are accurately distinguished through the specific analysis and evaluation parameters, and the authenticity of the target represented by the point cloud is verified through the analysis of the point cloud position change rate. The effect of detecting the false target point cloud appearing in the point cloud image caused by the multipath reflection wave signal is achieved.

The invention discloses an offshore field two-dimensional seismic data rapid imaging method, and relates to the technical field of seismic exploration data processing, and the method comprises the steps: obtaining SEGD format original seismic data of a target region from a seismic collection system, combining the data of each shot of each measuring line, decoding the data into internal available data, and obtaining a to-be-processed data body; and loading an observation system and assigning seismic trace header parameters according to actual acquisition parameters based on the decompiled to-be-processed data volume. According to the invention, through a multi-stage denoising and signal protection strategy, effective suppression of various sea interferences is realized, a frequency division multi-channel statistical abnormal amplitude suppression technology is adopted, zero-phase high-pass filtering is combined, low-frequency effective signals are protected while low-frequency strong-energy background noise is removed, and the noise suppression effect is improved. The direct wave cutting step further eliminates strong energy interference under a long cable condition, highlights an effective reflection signal of middle and far offset data, forms a progressive signal-to-noise ratio improvement mechanism from original data to final imaging, and improves the interpretability of seismic data.

The invention provides a phase change blasting excitation seismic wave reflection method, a medium, equipment and a product, and relates to the technical field of tunnel engineering, the method comprises the following steps: arranging a detection hole and a plurality of blasting holes in a tunnel face, placing blasting tubes in the blasting holes, placing detectors in the detection hole, and generating seismic waves through phase change blasting; carrying out longitudinal wave and transverse wave separation on seismic wave signals detected by a detector, processing longitudinal waves and transverse waves by adopting a two-dimensional F-K digital filtering method, filtering interference waves, separating effective waves and direct waves, and dividing a data set of the effective waves into a training set and a test set; building a prediction model of the unfavorable geological disaster body in front of the tunnel face based on a support vector machine, and obtaining optimal parameters of the model by using a particle swarm algorithm; and training and testing the model by using the training set and the test set, and applying the tested model to tunnel geological forecast. According to the method, the accuracy of advanced geological forecast of the gas tunnel is improved, and the gas explosion risk is reduced.

The invention provides a method for processing and imaging sound wave remote detection data in a well, and belongs to the field of oil-gas exploration. The method comprises the following steps of: firstly, evaluating full wave train data by adopting an energy statistical method, eliminating data with problems, and recovering damaged data by utilizing a POCS interpolation method; then, completing reflection wave extraction based on polarization characteristics of direct waves and reflection waves, and performing optimization through multi-stage filtering processing and amplitude restoration; and then, optimizing a speed extraction method in dynamic correction by using a competition-cooperation particle swarm algorithm, and providing an accurate stacking speed for common sound source gather stacking. And finally, utilizing a frequency-wavenumber domain migration method to realize well-side fracture cavity imaging. According to the method, through an innovative data processing algorithm and flow optimization, imaging of the well-side fracture-cavity body is achieved, and a reliable technical means is provided for oil-gas exploration of a complex reservoir.

The application discloses an active direct wave suppression method, device, computer and storage medium, which filters a received signal by using a time domain blocking matrix, suppresses an interference frequency component, and forms a new sampling sequence; and performs a discrete Fourier transform on the new sampling sequence generated after filtering to obtain a power spectrum signal after interference suppression. According to the active direct wave suppression method, device, computer and storage medium, the uniformity of a single-frequency signal in time domain sampling is utilized, alignment on a time domain waveform is realized through phase compensation, and a difference cancellation process is performed on a reference signal and an original signal, so that the frequency component is cancelled, and static reverberation is suppressed. The method is convenient to calculate, has good single-frequency direct wave interference and reverberation suppression capability, and can be used for active target detection in a single-frequency long pulse signal transmission mode, and the effective distance is improved.

The present application relates to the technical field of task scheduling processing, in particular to a task scheduling monitoring method and system based on a signal monitoring machine, comprising the following steps: capturing a mixed sound pressure signal generated by underwater base station and vehicle communication through a submerged signal monitoring machine, separating the direct wave and reflected wave components; calculating the current sound pressure channel quality score according to the frequency dispersion index of the direct wave component and the time delay dispersion degree of the reflected wave component; setting an adaptive threshold, triggering a multi-level decision response based on the deviation degree of the channel quality score and the adaptive threshold, and generating a channel degradation alarm at the same time. The present application optimizes the task resource allocation strategy while ensuring the reliability of communication, and is suitable for various complex operation scenarios such as underwater unmanned platform, emergency communication and ocean monitoring.

The present application relates to a kind of shallow sea seabed node redirection method based on first arrival polarization characteristic constraint, medium and equipment, belong to geophysical exploration data processing technical field.The method includes the following steps: extracting common receiver gather from analog or field collected four-component seismic data, obtaining first arrival time and propagation azimuth, according to the energy distribution of first arrival time window, polarization characteristic and P, Z component correlation jointly constrained construction target function;Directional parameter solution and seabed node acquisition seismic data directional correction.In addition, the present application comprehensively utilizes the energy of first arrival wave, polarization characteristic and P, Z component correlation to carry out geophone redirection, can solve the application condition restriction, insufficient precision in the method of conventional only using direct wave to carry out redirection and the multi-solution problem existing in reflection wave energy method itself.

The invention provides an elastic wave CT (Computed Tomography) signal denoising method for improving the inversion precision of karst cave exploration, which belongs to the technical field of engineering exploration and comprises the following steps of: performing normalization preprocessing on a received signal, suppressing random noise by adaptive filtering, converting a time domain signal into an F-K domain and identifying a surface wave, filtering a surface wave signal by a Gaussian band elimination filter, and converting the F-K domain signal back to the time domain. The method comprises the following steps of: highlighting a take-off characteristic of a weak P wave covered by a strong surface wave through normalization; using a minimum mean square error adaptive filter to accurately filter random noise; subsequently converting to an F-K domain, and smoothly attenuating the surface wave through a Gaussian band elimination filter by utilizing the frequency wave number distribution difference of the surface wave and the P wave; the method realizes layered removal of random noise and surface waves, finally outputs high-purity direct P-wave signals, greatly improves P-wave travel time pickup and wave velocity calculation precision, and remarkably improves inversion precision of an elastic wave CT exploration method in detection of geologic bodies such as karst caves and fracture zones.

The application discloses a kind of distributed array high-precision time synchronization method based on compressed sensing (CS) and secondary least square (QLS), belong to wireless communication and radar signal processing technical field.For under the restriction hardware bandwidth and strong multipath environment, traditional cross-correlation method is limited by Rayleigh resolution and sampling grid, there is the problem of serious peak aliasing, insufficient synchronization accuracy, the application proposes CS-QLS joint decoupling strategy.The method constructs frequency domain observation matrix and high-density time delay over-complete dictionary by transmitting sparse multi-tone probe signal, reconstructs sparse channel impulse response using CS, separates multipath aliasing and determines direct wave coarse synchronization boundary;Further combined with main path and adjacent grid point amplitude information, QLS is used to fit continuous domain peak position, and grid mismatch error is corrected.The method breaks through the limitation of physical bandwidth and sampling grid, and realizes nanosecond-level high-precision time synchronization in complex non-line-of-sight environment with very low computational complexity.

This invention discloses a method for estimating LFM pulse signal parameters under aliasing conditions, applied in the field of radar technology. Addressing the problem of aliasing in the time-frequency domain of direct-arrival wave signals from multiple external radiation sources with similar parameters, this invention utilizes fractional Fourier transform to accumulate energy in the direct-arrival wave signal. Based on the analytical expression of the peak-to-peak linear frequency modulated (LFM) pulse signal obtained after accumulation and its fractional Fourier transform, a multi-channel signal is constructed. Finally, using the constructed multi-channel signal, the LFM pulse signal is de-aliased in the fractional Fourier transform domain through blind source separation, ultimately improving the signal-to-noise ratio and separating different pulse signals with similar parameters, thereby achieving accurate parameter estimation. The process of this invention can be implemented using the fast fractional Fourier transform method, which is beneficial for engineering implementation.

The application discloses a kind of based on direct wave and differential GPS ranging multi-transmit multi-receive radar time synchronization method, in the airborne distributed radar system of multiple radar units, two radar units at baseline end as signal transmitting source, all radar units have signal receiving ability and mutually in visible range.Two transmitting radars emit carrier frequency different linear frequency modulation wave, all radars receive direct wave and the echo signal of target reflection.Direct wave contains the time synchronization error between corresponding receiving and transmitting radar platform and baseline distance information.Obtain positioning information by means of differential GPS module, eliminate the baseline distance information in direct wave, and only contain time synchronization error direct wave as reference signal.Then the echo signal and reference signal are conjugated in frequency domain multiplication, that is, the echo signal can be matched filtered and time synchronization error compensated in distance direction.Each of all echo signals is processed above, and finally the time synchronization of distributed radar system is realized.

The application discloses a method for extracting and correcting the time difference of synchronous seismic data collection while digging, which comprises the following steps: 1, establishing a seismic data collection system while digging, reading all seismic wave data in the collection system and filtering; 2, performing velocity analysis on the filtered seismic wave to obtain the propagation velocity of the seismic direct wave while digging; 3, using the seismic wave propagation velocity original data to correct the direct wave time difference of each seismic trace, and eliminating the influence of the seismic wave propagation time difference; 4, calculating the model trace data of each collection substation through the data after the time difference correction; 5, determining the reference substation according to the model trace data of each collection substation and the data of each seismic trace in the corresponding collection substation; and 6, calculating the time difference of the corresponding collection substation according to the cross-correlation time difference between the model trace of the reference substation and the model trace of each collection substation, and correcting the original data.

This invention belongs to the field of seismic exploration, specifically relating to a method for calculating minimum offset and delay based on direct waves and seafloor reflected waves. The method includes: selecting single-shot seismic data from a flat seafloor location, picking the direct wave travel time, and picking the seafloor reflected travel time of the first data trace at the single-shot location; performing regression fitting on the picked direct wave travel time to fit the direct wave equation, and obtaining the seawater velocity and initial minimum offset based on the direct wave equation; setting an initial delay time range, and calculating the seafloor depth h for each seismic trace at different delay times based on the seawater velocity, initial minimum offset, and seafloor reflected travel time; calculating the 2h variance based on the seafloor depth of the seismic trace, and obtaining the minimum offset and delay time. This invention can quickly obtain the minimum offset and delay time, achieving accurate positioning of seismic data, and the method is simple and easy to implement.

Transmission quality is improved in an environment in which direct waves dominate in a transmission method for transmitting a plurality of modulated signals from a plurality of antennas at the same time. All data symbols used in data transmission of a modulated signal are precoded by hopping between precoding matrices so that the precoding matrix used to precode each data symbol and the precoding matrices used to precode data symbols that are adjacent to the data symbol in the frequency domain and the time domain all differ. A modulated signal with such data symbols arranged therein is transmitted.

Signal processing equipment, comprising: a map generation unit (13) to acquire a received signal of a reflected wave from a receiving unit which receives the reflected wave from an object located in the vicinity of a mobile object, and to generate a distance Doppler map which indicates a signal strength level of the received signal; an altitude standard deviation calculation unit (15) to calculate a standard deviation of an altitude at which the object is located, based on the distance Doppler map generated by the map generation unit (13); a distance interval calculation unit (14) to calculate a distance interval where a direct wave from the object contained in the reflected wave and a multipath wave from the object contained in the reflected wave interfere with each other, based on a distance Doppler map generated by the map generation unit (13); and a collision determination unit (17, 18) to determine whether or not the object is at a height where there is a possibility of collision between the mobile object and the object, based on the standard deviation calculated by the height standard deviation calculation unit (15) and the distance interval calculated by the distance interval calculation unit (14).

The present invention discloses a direct wave-echo real-time synchronization method for GNSS-InSAR deformation monitoring. The present invention directly obtains the Doppler frequency and CA code starting position through direct wave channel capture and tracking processing, directly calculates the echo compensation phase through a corresponding algorithm, and synchronously acts on the echo channel to perform compensation synchronization processing on the echo signal. The method does not require the storage of direct waves and echo signals. The direct waves and echo signals only need to undergo pulse compression processing once, which saves resources and can achieve real-time synchronous processing of direct waves and echoes. The GNSS-InSAR system echo signal BP imaging requires less time, has high processing efficiency, and is hardware-implementable. It can ensure that GNSS-InSAR system deformation monitoring can be carried out in a timely, efficient, and complete manner.

The invention discloses a single hydrophone orientation device and method based on an acoustic metamaterial, and relates to an underwater acoustic engineering technology. By designing a three-dimensional geometric structure and utilizing an acoustic metamaterial to construct an auxiliary device, the orientation of an incident sound wave is determined based on a single hydrophone; the device comprises a honeycomb-shaped cylindrical base and a wedge-shaped acoustic grating group which are distributed asymmetrically; the honeycomb-shaped cylindrical base is divided into N grids, the sound grids in the wedge-shaped sound grid set are fixed to the grids in a one-to-one correspondence mode, and the lengths of the internal coiling structures of the sound grids are arranged in a differentiated mode. The direct wave time and the acoustic grating wave time received by the scalar hydrophone are extracted, the time difference is calculated to reversely deduce the propagation distance increment, and the length of the acoustic grating coiling structure is matched to determine the sound source orientation. The device is simple in structure, low in cost and easy to manufacture and install, can be used for transformation of an existing scalar hydrophone, enables the scalar hydrophone to have an orientation function, improves the detection capability of a single hydrophone, and has important application value for a detection system and a mobile platform deployed in a large range.

The present application relates to an object detection device that improves the detection accuracy of an object based on triangulation. The object detection device includes a triangulation operation section that performs a triangulation operation for detecting the position of an object based on first distance information and second distance information, the first distance information being calculated based on a direct wave that is reflected by an object and received by a first transceiving section from a transmission wave transmitted from the first transceiving section, the second distance information being calculated based on an indirect wave that is reflected by an object and received by the first transceiving section from a transmission wave transmitted from a second transceiving section disposed at a position different from the first transceiving section; and a prohibition processing section that prohibits the triangulation operation when the difference between first speed information representing the speed of the object calculated based on the direct wave and second speed information representing the speed of the object calculated based on the indirect wave exceeds a prescribed range.