627 results about "Hydrophone" patented technology

The invention belongs to the technical field of underwater topographic survey, and particularly relates to an underwater topographic survey system based on multi-sensor data fusion, which comprises a multi-beam sounding sonar, a laser radar sensor, an ultrasonic bathymeter, an optical fiber hydrophone, a side scan sonar and a data processing and fusion module. The invention further relates to an underwater topographic survey method, and the method adopts a Kalman filtering data fusion algorithm. According to the invention, multiple types of sensors such as a multi-beam sounding sonar, a laser radar, an ultrasonic bathymeter, an optical fiber hydrophone, a side-scan sonar and the like are integrated into the same system for the first time, and an acoustics, optics and mechanics multi-dimensional data acquisition system is formed.

The invention discloses a deep-sea self-expanding horizontal array acoustic subsurface buoy, which relates to the field of deep-sea underwater acoustic detection and comprises an expanding platform arranged at the top of the acoustic subsurface buoy, a subsurface buoy main body positioned below the expanding platform and an anchoring structure connected below the subsurface buoy main body, the subsurface buoy body comprises a buoyancy platform arranged below the unfolding platform and an equipment platform arranged below the buoyancy platform. The problem that a hydrophone linear array composed of a plurality of large-scale acoustic linear arrays is folded and automatically unfolded into a cross horizontal array is solved, and integration of a deep-sea acoustic emission system, an acoustic receiving system, an underwater acoustic communication system and an equipment supply system is achieved. The whole subsurface buoy can be quickly and conveniently released and recycled, and high-reliability anchor mooring is achieved.

The invention relates to the technical field of measurement of mechanical vibration or ultrasonic waves, water sound waves or infrasonic waves, in particular to a vibration liquid column hydrophone calibration device and method based on laser interferometry, and the device comprises a laser vibration meter, a hydrophone to be measured, a liquid column cavity for suspending the hydrophone to be measured, and a vibration table connected with the liquid column cavity. The to-be-measured hydrophone is detachably connected with an adjusting and positioning mechanism, the adjusting and positioning mechanism is connected with a laser vibration measuring instrument for executing vibration measurement, the adjusting and positioning mechanism and the laser vibration measuring instrument are introduced, the problem that accurate calibration of the low-frequency hydrophone cannot be achieved in the prior art is solved, and through sound field modeling calculation and correction, accurate calibration of the low-frequency hydrophone is achieved. The technical problem that the uncertainty and deviation of a hydrophone sensitivity calibration result caused by a non-uniform sound field cannot be effectively reduced in the prior art is solved.

The invention belongs to the technical field of underwater target radiation noise measurement, and particularly relates to a sparse combination array measurement system and method for underwater target radiation noise measurement, a program and a storage medium. A sparse combined array formed by a sound pressure spiral double-cone volume array with a sparse structure and a sound pressure vector nested vertical linear array is designed, a combined array frequency-division testing scheme of a high-frequency volume array and a low-frequency vertical linear array is adopted, a combined measurement method of a sound pressure hydrophone and a vector hydrophone is utilized, a measurement frequency band is extended, and the measurement precision is improved. And effective measurement of the full-band radiation noise of the underwater target is realized. Through a sparse array arrangement structure and an improved constant-beam-width beam forming method, a two-dimensional steady constant-beam-width beam is obtained while the number of array elements is reduced and the array complexity is reduced, and an appropriate main lobe width and a lower side lobe level can be adjusted according to a measured target and a measurement distance. According to the method, the array element redundancy of the measurement array is reduced, and the method can be flexibly applied to various application scenes of underwater radiation noise measurement.

The invention discloses an underwater focusing intense sound system and method based on phase control, and relates to the technical field of focusing intense sound, and the technical scheme is characterized in that a measurement and control upper computer is used for controlling the emission and detection of a trigger signal; the phase control signal generator is used for controlling a phase control signal of sound wave emission; the multi-channel power amplifier is used for driving the acoustic emission phased area array, and the acoustic emission phased area array is used for emitting acoustic waves; the area array calibration hydrophone is used for receiving signals of reflected sound waves; the target calibration sound source is used for transmitting a signal pulse width, the target sound field measurement hydrophone is used for receiving the signal pulse width transmitted by the target calibration sound source and forwarding the signal pulse width to the measurement and control upper computer, and the measurement and control upper computer receives the forwarded signal pulse width for system evaluation and correction. By generating the high-energy strong-focusing sound field and combining the actual underwater signal propagation process, accurate positioning and control of the underwater strong sound field can be completed, so that accurate focusing irradiation and high-resolution imaging of a long-distance small target are realized.

The invention provides a method and a system for positioning an underwater target with known depth. The method comprises the following steps: adopting a cross array as a receiving array; the two hydrophones in the horizontal direction form a first group of hydrophones, and the two hydrophones in the vertical direction form a second group of hydrophones; receiving a pulse signal of a target sound source, and estimating a time difference of arrival through a secondary cross-correlation method; estimating the pitch angle of the target sound source according to the time difference of arrival of the second group of hydrophones; estimating the azimuth angle of the target sound source according to the pitch angle of the target sound source and the time difference of arrival of the first group of hydrophones; and estimating the target sound source distance according to the target sound source depth and the pitch angle. The method has the advantages that under the condition that only the depth of the target position is known and the sound source and the receiving array cannot communicate, the target sound source can be accurately and rapidly subjected to direction finding and positioning. The method can be widely applied to an underwater passive sonar system with a known target depth, and can be expanded to a weak signal detection system.

The invention relates to the technical field of underwater acoustic engineering and ocean exploration, in particular to a multi-channel underwater acoustic signal transmitting and measuring system and a signal processing method, which are used for solving the problems that the existing multi-channel underwater acoustic signal processing generally depends on fixed threshold detection or simple time sequence alignment, and the signal processing efficiency is low. The problem that residual vibration, local noise abrupt change or multipath reverberation is easily misjudged as an effective first arrival signal in a complex underwater environment due to the fact that the influence of the physical response characteristic of a transducer on emission time calibration is not considered and effective verification on whether a candidate arrival structure accords with a sound wave propagation physical rule is lacked is solved. According to the invention, a multi-channel energy time sequence and hydrophone space geometrical relationship is fused through an underwater sound propagation initial physical judgment module, a judgment mechanism is constructed based on distance-time consistency of sound propagation, and self-consistent verification is realized by combining a cross-channel arrival sequence and sound velocity constraint. And the accuracy, the robustness and the physical interpretability of the judgment of the effective launching time of the underwater sound are obviously improved.

The invention provides a spherical complex vibration type vector hydrophone based on an MEMS accelerometer, and relates to the technical field of underwater acoustic signal detection, and the spherical complex vibration type vector hydrophone comprises an MEMS accelerometer, a built-in core, a piezoelectric ceramic spherical shell, a sound transmission sealing shell, and a suspension ring. The MEMS accelerometer is orthogonally arranged in the built-in core; the built-in core is nested in the lower half ball of the piezoelectric ceramic spherical shell; the upper hemisphere of the perforated piezoelectric ceramic spherical shell is adhered to the upper edge of the built-in core; the sound transmission sealing shell coats the piezoelectric ceramic spherical shell through an encapsulation process; the suspension ring is bonded with the sound transmission sealing shell, and the hydrophone is suspended on the fixing support for use. The composite hydrophone can detect sound pressure signals and vibration velocity signals at the same position underwater, solves the problem of omnidirectional detection of the composite hydrophone on the sound pressure signals, and has the advantages of small size, simple structure, high reliability, wide application range and the like.

The invention discloses an internal wave acoustic feature extraction method based on energy jitter, and the method comprises the following steps: S100, internal wave region acoustic signal preprocessing: sequentially carrying out the filtering processing and noise cancellation processing of a multi-channel acoustic signal obtained by a hydrophone, and obtaining an acoustic signal time-frequency diagram through windowed short-time Fourier transform; and S200, extracting internal wave sound energy jitter characteristics: acquiring data in a specific time period based on the acoustic signal time-frequency diagram, and processing and analyzing frequency point energy to obtain an energy jitter spectrum. The method is high in accuracy, low-frequency and high-frequency signals, carrier noise and background noise are effectively suppressed by comprehensively preprocessing the multi-channel acoustic signals, and subsequently extracted internal wave acoustic features are more accurate and reliable. The method is high in timeliness, the internal wave sound energy jitter characteristics can be extracted from the time-frequency image efficiently, and the internal wave information processing speed is increased to a certain extent.

The invention relates to the technical field of acoustic testing, in particular to a method for testing sensitivity of optical fiber curved surface array hydrophones, which comprises the following steps of: after determining coordinates of a sound source, each hydrophone of an optical fiber curved surface array and a standard hydrophone on a water test platform, transmitting a single-frequency pulse signal by the sound source; after the data acquisition system respectively acquires a signal received by the standard hydrophone and signals received by each hydrophone of the optical fiber curved surface array, the data analysis system generates an analog sound source signal, and direct waves received by the standard hydrophone and each hydrophone of the optical fiber curved surface array are quickly found by using a related algorithm; the optical fiber curved surface array hydrophone sensitivity testing method solves the problem of synchronization of different acquisition systems, is an effective supplement to an existing optical fiber curved surface array hydrophone sensitivity testing method, and has a wide application prospect.

The invention relates to the technical field of underwater acoustic positioning, discloses an OFDM (Orthogonal Frequency Division Multiplexing) sound source distance and depth estimation method based on a single hydrophone, and aims to realize parallel processing of communication positioning tasks and efficient utilization of underwater time-frequency resources and promote development of light-weight and low-energy-consumption equipment adaptive to an underwater unmanned small platform. According to the OFDM sound source distance and depth estimation method based on the single hydrophone, the frequency domain input and output relation of a communication system under a multi-path channel is combined, an observation model used for target positioning is constructed through comb-shaped pilot frequency, a multi-snapshot measurement matrix is constructed through a space domain smoothing means, multi-path time delay estimation is achieved based on a rotation invariant subspace algorithm, and the estimation accuracy is improved. And then target positioning is realized by adopting a channel time delay feature matching method. The OFDM sound source distance and depth estimation method based on the single hydrophone provided by the invention is suitable for integrated information processing of the single hydrophone, has the advantages of miniaturization, light weight and portability, and is suitable for an underwater unmanned small platform.

The invention discloses a laser-induced sound cross-medium communication method based on passive relay PWM modulation, and relates to the technical field of cross-medium communication. The method comprises the following steps: adjusting the laser pulse width of to-be-sent information, and carrying out PWM modulation to obtain a PWM sequence; inputting the modulation sequence into a laser driving control module, and driving a laser to emit a laser pulse signal with specific pulse width change; laser energy is focused on the surface of a passive relay material, and when laser pulses with different pulse widths act on the material, different numbers of sound signals can be excited and generated; a receiving end captures sound signals propagating across media through a hydrophone, and demodulates the sound signals according to a mapping relation between pulse width and the number of the sound signals; and finally, original information is restored, so that cross-medium communication from air to water is completed. According to the invention, PWM modulation is combined with a passive relay material, and the system has the remarkable advantages of no need of underwater power supply, simple structure, high reliability and the like.

The present invention discloses a cross-sound zone sound source localization method using dual hydrophones in a deep-sea environment, comprising: step 1: using the dual hydrophones to receive broadband signals radiated by a sound source in a specified sea area, and simultaneously using other hydroacoustic equipment to obtain environmental parameters of the sea area; step 2: using a time-spectral energy accumulation method to extract the arrival times of different sound lines from the received signal of one of the hydrophones, and estimating two multipath time delay differences; step 3: using a sound field calculation model BELLHOP to simulate two multipath time delay differences in different sound zones when the sound source is at different grid virtual points; step 4: calculating a cost function, and estimating the position of a target sound source; step 5: repeating steps 2 and 4 for the signal received by another hydrophone, and estimating the position of the target sound source; and step 6: performing a similarity analysis on four estimation results obtained by positioning the two hydrophones, and taking the average of the two estimation results with the greatest similarity as the final sound source position estimation result.

The invention provides a moving target Doppler compensation coherent detection method and system based on a single-vector hydrophone, and the method comprises the steps: S1, collecting a receiving signal of the single-vector hydrophone, and carrying out the segmentation of the receiving signal, and obtaining segmented data; s2, estimating a scale factor of the received data of the current segment according to the segmented data; s3, compensating the corresponding segmented data according to the scale factor to obtain a compensated signal; and S4, performing coherent accumulation processing on the compensated signal to obtain a sound intensity detection result, namely signal-to-noise ratio gain. The scale factor is a Doppler coefficient. Based on the improvement of a conventional sound pressure Doppler compensation method, in view of the advantages of the vector hydrophone, a new moving target Doppler compensation coherent detection method based on the single vector hydrophone is provided, and the detection performance of the single vector hydrophone on the moving target is improved.

Systems and Methods for Labelling Sonar Data A computer-implemented method is provided of automatically labelling passive sonar hydrophone data for use as a supervised learning dataset, comprising: for a selected passive sonar hydrophone: obtaining actual received sound data throughout a detection time-period, obtaining a hydrophone location, and determining a maximum detection radius around the hydrophone location; retrieving timestamped vessel data associated with vessels within the maximum detection radius during the detection time-period, the timestamped vessel data comprising for each vessel: vessel location information and vessel identification information; determining, for a particular vessel identification information, an estimated received sound metric for each vessel throughout the detection time-period, based on the timestamped vessel data; labelling the actual received sound data, the labels including the particular vessel identification information and being associated with times during the detection time-period where the estimated received sound metric is above a threshold.

The utility model relates to an electrical system for a submarine sediment acoustic in-situ measurement device, which belongs to the technical field of submarine measurement electrical control and comprises a shipborne part and an underwater part which are connected through a photoelectric composite cable. The shipborne part is used for controlling the work of the underwater part; wherein the underwater part comprises a plurality of modular units which are connected through standardized interfaces, and the modular units comprise a main control unit, an acoustic measurement unit, a power amplifier unit, a transducer unit, a hydrophone unit and a power supply unit. According to the electrical system for the acoustic in-situ measurement device for the submarine sediments, through modular design, the adaptability and universality of the electrical system are improved; and moreover, a worker can add corresponding units or modules according to measurement requirements, so that the expandability of the system is improved, and different measurement scenes and requirements are better met.

The invention relates to the technical field of ultra-short baseline positioning, in particular to an ultra-short baseline positioning method and system based on a TDOA observation value and an effective sound velocity, and the method comprises the steps: constructing a spatial geometric distance mathematical relationship between a hydrophone and a sound source target according to a position vector of the hydrophone in a USBL system in a carrier coordinate system, and building an ultra-short baseline TDOA observation equation; unknown parameters of the ultra-short baseline TDOA observation equation comprise an effective sound velocity parameter and a sound source position vector parameter; substituting the effective sound velocity approximate value and the sound source position vector approximate value into an ultra-short baseline TDOA observation equation to linearize the ultra-short baseline TDOA observation equation; and iteratively solving the linearized ultra-short baseline TDOA observation equation by using a least square method criterion, and obtaining a final effective sound velocity and a final sound source target position vector according to a solving result. The method can be suitable for a USBL system with TDOA as an original observation value, can avoid the influence of sound ray bending, is simple in calculation principle, and can be embedded into a novel USBL positioning system for use.

The invention belongs to the technical field of underwater acoustic test platforms, and particularly relates to a marine information experiment teaching platform based on a master-slave teleoperation system. The system comprises a master-end device and a slave-end device, a master-slave teleoperation system is carried in the master-end device, and a virtual model of the slave-end device is established in the master-slave teleoperation system; an experimenter operates the virtual model of the slave-end device through the master-slave teleoperation system, and the master-slave teleoperation system converts the action of the virtual model of the slave-end device into a control instruction and transmits the control instruction to the slave-end device; after receiving the control instruction, the slave end equipment adjusts the pose state of the transducer and the hydrophone; an experimenter sends an electric signal to the transducer through the master-slave teleoperation system, the transducer converts the electric signal into an underwater acoustic signal to be spread in the experimental pool, the hydrophone feeds back the underwater acoustic signal to the master-end equipment after receiving the underwater acoustic signal, and remote teleoperation processing of the experimenter on the experimental process is achieved.

The invention discloses an MEMS underwater acoustic sensor and a preparation method thereof, the MEMS underwater acoustic sensor comprises a first substrate with a groove, a second substrate bonded with the first substrate, and a piezoelectric structure arranged at the top of the second substrate; the piezoelectric structure comprises a lower electrode layer, a piezoelectric layer and an upper electrode layer which are arranged in sequence; a groove is formed in the first substrate, a limiting structure is arranged in the groove, and the second substrate and the groove of the first substrate form a cavity. The limiting structure is additionally arranged in the cavity of the underwater acoustic sensor, so that the deformation degree of a hydrophone film is limited. The result shows that the additional arrangement of the limiting structure can significantly improve the pressure resistance on the premise of not significantly reducing the sensitivity of the sensor, and can ensure that the underwater acoustic sensor can maintain high sensitivity and work stably under deep sea high pressure.

The invention relates to the technical field of underwater acoustic measurement, in particular to a 3 * 3 coupler optical fiber hydrophone weak signal demodulation method, which comprises the following steps: S1, preparation work and equipment positioning; s2, generating and adjusting a signal; s3, signal acquisition and storage; s4, performing ellipse fitting and parameter estimation; s5, signal demodulation and analysis; and S6, calibrating the phase shift sensitivity. According to the method, weak signal demodulation of the optical fiber hydrophone is realized by using an ellipse fitting parameter estimation method based on the Sampson distance, an experimental result shows that the weak signal calibration phase shift sensitivity is basically consistent with a strong signal calibration result, the effectiveness and accuracy of the method are verified, and the method is suitable for popularization and application. And the detection and identification capability of the optical fiber hydrophone on an underwater weak signal target can be further improved.

The utility model belongs to the technical field of hydrophones, and particularly discloses a hydrophone filled with silicone oil, which comprises a first shell, a second shell, a printed circuit board assembly and a cable, the first shell is made of an underwater sound transmission material, one end of the first shell is connected with the second shell, a closed cavity is formed between the interior of the first shell and the second shell, and the closed cavity is filled with silicone oil; the printed circuit board assembly is integrated with a pre-amplifier chip and an MEMS chip used for sensing sound signals, and the printed circuit board assembly is arranged in the closed cavity and soaked in the silicone oil. The cable passes through the second housing, and the wiring end of the cable is connected with the board body of the printed circuit board assembly. According to the hydrophone filled with the silicone oil, the product structure is simplified, the number of parts is greatly reduced, and production and processing are facilitated; silicone oil is poured into the closed cavity, so that the printed circuit board assembly is completely soaked in the silicone oil, and meanwhile, a pre-amplifier is arranged in the hydrophone, so that the sensitivity and hydrostatic pressure resistance of the hydrophone are improved.

The invention relates to the technical field of quantum precision measurement, in particular to an optical fiber hydrophone based on an adaptive differential weak value measurement technology, which comprises a light-emitting module, a front selection state module, a weak coupling module and a rear selection state module, and is characterized in that the light-emitting module is connected with the front selection state module, and the rear selection state module is connected with the weak coupling module; the output end of the front selection state module is connected with the input end of the weak coupling module through the phase modulation unit and the first partial division unit, the output end of the weak coupling module is connected with the input end of the rear selection state module through the second partial division unit, and the output end of the rear selection state module is connected with the phase modulation unit. Through a push-pull probe structure, differential signal processing and an adaptive modulation process, high-sensitivity and wide-dynamic-range underwater acoustic signal detection is realized.

The invention discloses a method for testing the pile length based on the fact that the pile length does not reach a pile bottom hole in a pile body, and relates to the technical field of pile foundation detection.According to the method, a hydrophone is used, a sounding hole channel pre-buried in a large-diameter pile is used for conducting pile length detection, and a measuring hammer is used for knocking the middle of the pile top; a hydrophone is used for collecting signals, and a hole pressure time-depth response diagram generated by one-time hammer knocking is generated; and the hole pressure time-depth response diagrams collected at all the depths are spliced, a fitting curve of the first arrival waves and the reflected waves is generated, and the pile length is judged according to the fitting curve. According to the method, all the sounding pipes are not required to be intact, and only one sounding pipe is required to be intact. Meanwhile, the method can solve the problem that reflection of the pile bottom of the deep and long pile foundation is difficult to detect through a low-strain reflection wave method, pile body stress wave signals are transmitted in a pipe wave mode through liquid in the sounding pipe, attenuation is small, and therefore the pile bottom reflection signals of the super-long pile can be detected clearly and visually.

The present invention discloses an adaptive underwater low-frequency underwater acoustic transducer impedance matching device, which comprises a main control circuit, which sends a sweep frequency signal to an underwater power amplifier in a configuration stage and performs impedance matching calculation according to an electrical signal collected by an impedance detection circuit; in an adaptive operation stage, calculates an expected sound source response curve according to the transmitting power of the underwater power amplifier, obtains a power deviation in combination with the sound source signal collected by a hydrophone, obtains an impedance angle according to the electrical signal collected by the impedance detection circuit, and then performs impedance matching modification; an impedance array circuit realizes a circuit with adjustable inductance and inductance parameters to output the maximum power of the underwater acoustic transducer; in the configuration stage, the impedance detection circuit collects electrical signals of the impedance array circuit at various frequency points and transmits them to the main control circuit; in the adaptive operation stage, the electrical signals of the transmitting frequency points are collected and transmitted to the main control circuit; and an impedance switching circuit selectively connects the capacitors and inductors in the impedance array circuit by a relay according to the matching impedance of the main control circuit.

The invention discloses a large-depth hydrophone amplitude response measurement method based on deep sea environment noise field depth distribution, and the method comprises the steps: receiving a field measurement result of a noise spectrum level through matching a calibrated hydrophone or a standard hydrophone under low pressure, and carrying out the measurement of the amplitude response of a large-depth hydrophone based on a noise field modeling result of a marine environment parameter and a sound field model in a measurement period; the noise field full-depth distribution rule of the tested sea area is obtained, then the difference value between the noise field full-depth distribution rule and the actual measurement result of the hydrophone to be tested is calculated, the difference value is compensated to the amplitude response nominal value of the hydrophone to be tested, and the amplitude response of the hydrophone to be tested in the large-depth environment can be obtained. The invention provides a new way for obtaining the sensitivity of the hydrophone in a deep-sea large-depth environment.

The invention discloses a rock sample crack measurement method and system based on the seismoelectric effect, and relates to the field of rock sample crack measurement, and the method comprises the steps: building a rock sample crack measurement system based on the seismoelectric effect, arranging hydrophones and electrodes in an array in a vertical direction, collecting sound field and electric field signals at the two sides of a rock sample, and carrying out the measurement of the rock sample crack. And then comparing and analyzing the electric field response difference between the complete rock sample and the crack-containing rock sample by adopting a sound source and electrode synchronous movement scanning technology so as to identify the crack interface. According to the rock sample crack measurement method based on the seismoelectric effect, the seismoelectric signals excited by the double interfaces are captured at the same time through the electrodes on the two sides, and effective identification of the crack interface is achieved through the signal amplitude difference, the attenuation characteristic and the waveform characteristic.

The invention discloses a water supply pipeline leakage identification method based on a hydrophone signal under a noise background, and the method comprises the steps: collecting a Mel spectrogram of the hydrophone signal of a preset water supply pipeline under different working conditions, marking the noise background of the Mel spectrogram, inputting the Mel spectrogram into an improved ESRGAN network based on the marking, and carrying out the recognition of the leakage of the water supply pipeline. The method comprises the following steps: inputting a single-channel de-noised Mel spectrogram into an AlexNet classification network to obtain a fixed-size feature graph of leakage features, flattening and activating the fixed-size feature graph to obtain a leakage identification classification result, taking leakage identification classification as a training label, and performing five-fold cross validation training on the classification network by using a training set, a validation set and the training label to obtain a leakage identification classification result. And obtaining a leakage identification model, and outputting a leakage identification result based on the leakage identification model. According to the method, effective denoising is carried out through multi-direction convolution and residual dense blocks, the classification precision and generalization ability are improved in combination with the improved AlexNet network, and meanwhile good interpretability is achieved.

The invention provides a resonant bionic cilia vector hydrophone based on a quartz tuning fork and an underwater acoustic system, and relates to the technical field of micro-mechanical electronics. A vibration detection mechanism in the hydrophone comprises two quartz tuning forks located in a first axial direction and two quartz tuning forks located in a second axial direction, the first axial direction is perpendicular to the second axial direction, one end of each quartz tuning fork is fixed, and the other end of each quartz tuning fork is connected with a vibration acquisition mechanism; and the vibration acquisition mechanism is connected with the quartz tuning forks and is used for driving the two quartz tuning forks in the same axial direction to generate symmetrical frequency deviation under the action of sound waves. According to the embodiment of the invention, the excellent frequency stability and strain sensitivity of the double-end fixed tuning fork can be utilized to realize efficient conversion of sound signals and generation of corresponding electric signals, digital signal output can be conveniently realized, high-sensitivity detection of the sound signals can be effectively realized, the influence of common-mode signals can be inhibited, the anti-interference performance is good, and the detection precision is high. And the underwater sound detection effect is greatly improved.

The invention provides underwater acoustic response and positioning integrated sensing equipment, a positioning method and a control method, and the sensing equipment comprises a suspension supporting structure and a spherical receiving hydrophone which is used for receiving a sound wave signal to judge a target distance; the sound absorption part is used for realizing receiving and transmitting isolation of sound wave signals; the circular tube transmitting transducer is used for transmitting a sound wave signal; the double-ring receiving hydrophone is used for receiving the sound wave signal to judge the target orientation; the spherical receiving hydrophone, the pressure-resistant electronic cabin, the sound absorption part, the circular tube transmitting transducer and the double-ring receiving hydrophone are sequentially and coaxially arranged in the cylindrical structure from top to bottom in the gravity direction; by adopting the equipment disclosed by the invention, the functions of transmitting, receiving and positioning can be simultaneously realized, and the positioning and control requirements of underwater engineering equipment can be met.

The utility model provides a piezoelectric MEMS accelerometer and a piezoelectric vector hydrophone, and belongs to the technical field of sound wave sensing. The piezoelectric MEMS accelerometer comprises a base body, wherein the middle part of the base body is provided with a cylindrical through area; the mass block is cylindrical and is arranged in the through area, and an annular area is formed between the mass block and the base body; the multiple cantilever beams are evenly arranged in the annular area in the circumferential direction of the mass block, the two ends of each cantilever beam are connected with the mass block and the base body respectively, each cantilever beam comprises a substrate layer, a lower electrode layer, a piezoelectric layer and an upper electrode layer which are sequentially stacked, a through hole used for exposing the lower electrode layer is formed in the piezoelectric layer, and a through hole used for exposing the upper electrode layer is formed in the upper electrode layer. The upper electrode layer comprises an inner electrode and an outer electrode which are arranged at intervals in the radial direction of the mass block, and the inner electrode and the outer electrode are located in opposite cantilever beam deformation areas. The piezoelectric MEMS accelerometer provided by the utility model is adjustable in sensitivity and flexible to use.