30 results about "Sea trial" patented technology

The invention discloses a cooperative control simulation system for an underwater robot and an umbilical cable system, belongs to the technical field of ocean engineering simulation and automatic control, and is used for analyzing system dynamic characteristics in the research and development stage of deep sea operation equipment. Comprising an environment initialization and marine environment construction module, a mother ship model construction module, an underwater robot and umbilical cable coupling module, an instruction generation module, a man-machine interaction control module and a data acquisition and storage module. According to the method, an external interference source with physical authenticity is provided for a control algorithm by combining an energy density function and simulating a composite environment modeling method of a sea level height field and an LOD dynamic grid, and a distributed model prediction control algorithm for uniformly optimizing underwater robot trajectory tracking and umbilical cable tension safety maintenance is constructed; data such as the motion state of the underwater robot and the tension of the umbilical cable can be output in real time, algorithm performance testing is completed in a virtual environment, and dependence on high-cost sea testing is not needed.

This invention provides a modular offshore mobile platform, comprising at least two hull platforms and a flexible connecting device for flexibly connecting adjacent hull platforms. Each hull platform includes at least one modular platform unit, which includes an installation platform and multiple small boats. The installation platform is a truss frame, and the small boats are connected to at least a portion of the frame nodes of the truss frame. This invention selects a certain number of platform units according to the required size, shape, and function of the hull platform, assembles them into a hull platform, and then uses the flexible connecting device to flexibly connect the hull platforms and install the load. This invention employs a grid-distributed array of power sources to form a power matrix chassis, breaking through the limitations of traditional single propulsion modes and achieving high-speed navigation on the water surface. Relying on the independent control of each small boat, it can achieve highly maneuverable maneuvers such as turning in place, sharp-angle turning, and lateral crabbing, greatly enhancing flexibility and sea trial response capabilities.

The invention relates to the technical field of coating test devices, and discloses a marine test device for testing antifouling performance of ship coatings, the marine test device comprises a bottom plate and a buoy, a lifting plate is mounted on the upper end face of the bottom plate, mounting plates are mounted at the two ends of the lifting plate, and lifting rods are mounted on the side walls of the two mounting plates; rotating rods are rotationally mounted on the upper end faces of the mounting plates, cavities are formed in the rotating rods, mounting rods are mounted in the cavities, mounting blocks are mounted on the lower end faces of the mounting rods, fixing blocks are further arranged on the two sides of the bottom plate, sample plates are mounted on the side walls of the fixing blocks, and adjusting assemblies are arranged on the side walls of the fixing blocks; a dismounting assembly is arranged on the upper end face of the mounting block. A lifting assembly is arranged on the upper end face of the bottom plate. A rotating assembly is arranged on the upper end face of the lifting plate. A telescopic assembly is arranged in the mounting rod; by means of the structure, the inclination angle of the sample plate can be adjusted through the adjusting assembly, the sample plate can be adjusted to the proper inclination angle according to the sea area condition, and therefore practicability is greatly improved.

The invention discloses a marine test parameter identification method for a high-speed moving ship, which comprises the following steps of: 1, integrating a plurality of inertial sensors through an attitude sensing module, and establishing a kinematics relation equation set among an angle, an angular velocity and an angular acceleration corresponding to three-degree-of-freedom rotating motion; 2, constructing a state estimation framework with fault detection capability, analyzing an actual observation value of the sensor and a Kalman filtering predicted value in real time based on a Kalman filtering algorithm to generate a residual sequence, and realizing diagnosis and identification of a sensor fault through statistical test and logical judgment; step 3, carrying out smoothing processing on the sea test data after fault cleaning by adopting a spectral analysis method, and eliminating measurement noise and data delay; and 4, based on the processed high-quality data, establishing a motion equation of the high-speed moving ship, performing linearization processing, converting the motion equation into a discrete ARMAX model structure, and executing ship system model parameter identification by using a generalized least square method.

The invention discloses a complex task actual flight test horizontal dynamic space design optimization method and a computer product, and the method comprises the steps: S1, decomposing a test task profile, and constructing a test task outward tree; s2, mapping each test task sub-profile in the constructed task outbound tree to obtain a corresponding test area, and forming an initial task area association symbol graph; s3, dynamically evolving a task area association symbol graph; s4, performing dynamic modeling on the relationship evolution of the test area to obtain a weight updating function and a symbol updating function; s5, expanding the weight updating function and the symbol updating function to the multivariate relation network to obtain the weight updating function and the symbol updating function of the multiple test areas; and S6, performing optimization based on the weight updating function and the symbol updating function of the multiple test regions to obtain an optimized area. The problems of test resource allocation and environmental adaptability are solved, and the method has remarkable advantages in the aspects of space saving, stability improvement, complex event processing and the like.

This invention provides a modular, highly maneuverable, lightweight mobile platform with a power matrix structure, comprising at least two hull platforms and flexible connecting devices for connecting adjacent hull platforms. Each hull platform includes at least one modular platform unit, which includes an installation platform and multiple small boats. The installation platform is a truss frame, and the small boats are connected to at least a portion of the frame nodes of the truss frame. This invention selects a certain number of platform units based on the required size, shape, and function of the hull platform and assembles them. Then, the flexible connecting devices are used to flexibly connect the hull platforms and install the load. This invention uses a grid-distributed array of power sources to form a power matrix chassis, breaking through the limitations of traditional single propulsion modes and achieving high-speed navigation on the water surface. Relying on the independent control of each small boat, it can achieve highly maneuverable maneuvers such as turning in place, sharp-angle turning, and lateral crabbing, greatly enhancing flexibility and sea trial response capabilities.

This invention provides a land-based test apparatus and method for an active ballast system for floating wind turbines. The apparatus includes a swing frame, a platform hydrostatic stiffness simulator, a floating wind turbine model, a ballast tank, a level sensor, pipes, remote-controlled valves, and a water pump. The swing frame simulates platform rotation, the platform hydrostatic stiffness simulator uses springs for simulation, and the load simulator reproduces the wind, wave, and current load history, achieving an equivalent land-based simulation of the floating wind turbine-ballast coupling system. The test method includes wind, wave, and current load calibration, model assembly and adjustment, platform hydrostatic stiffness simulator calibration, and load adjustment testing. This invention eliminates the need for a water tank or sea trial, is low-cost, has a short cycle time, is repeatable, and can comprehensively verify the control logic and load adjustment effect of the active ballast system.

The application aims to provide an adaptive interference suppression method based on feature subspace decision, comprising the following steps: calculating a full-rank sample covariance matrix; decomposing N feature values distributed from large to small and corresponding feature vectors to obtain a main subspace formed by feature vectors corresponding to the first D large feature values and a noise subspace formed by feature vectors corresponding to N-D small feature values; finding target signal components in the main subspace and the noise subspace, if any, finding and deleting the same, and combining the remaining two subspaces to form an interference and noise subspace; reconstructing the covariance matrix, and finally realizing strong interference signal suppression and accurate estimation of weak target direction by calculating the spatial spectrum. The application has higher calculation efficiency without calculating the power of interference and target signals, has less environmental mismatch influence and higher robustness, is suitable for target sound source motion scenes, and has strong engineering practical value as confirmed by actual sea trial data.

The utility model provides a transducer array structure for a sea test, and relates to the field of underwater test equipment. The transducer array structure for the marine test comprises a shell, in-cabin electronic equipment, a transmitting transducer and a linear array. A cavity is formed in the shell; the in-cabin electronic equipment is arranged in the cavity; the transmitting transducer is arranged at the bottom of the shell; the linear array is arranged on the outer side face of the shell. The transmitting transducer is used for transmitting underwater acoustic signals; the linear array is composed of more than two transducer units which are arranged at equal intervals and are of the same type, and is used for receiving or transmitting underwater acoustic signals. One transmitting transducer and a plurality of linear arrays are adopted to be matched with in-cabin electronic equipment composed of different functional modules, multi-purpose marine comprehensive test equipment can be formed, integration of multiple functions of traditional underwater test equipment is achieved, meanwhile, the equipment performance is improved, and the cost is reduced. Finally, the purposes of reducing the type number of test equipment, improving the reliability of the test equipment, reducing the number of operators and reducing the test preparation time are achieved.

The invention discloses a complex task actual flight test vertical dynamic space design optimization method and a storage medium, and the method comprises the steps: S1, decomposing a test task profile, and constructing a test task outward tree; s2, mapping each test task sub-profile in the constructed task outbound tree to obtain a corresponding depth interval, and forming an initial task area association symbol graph; s3, dynamically evolving a task area association symbol diagram along with the change of a test time flow; s4, carrying out depth interval relation evolution dynamic modeling along with the change of a time flow, and obtaining a weight updating function and a symbol updating function of moments and edges; and S5, optimizing the test initial area based on the weight updating function and the symbol updating function to obtain an optimized area. The problems of test resource allocation and environmental adaptability are solved, and the method has remarkable advantages in the aspects of space saving, stability improvement, complex event processing and the like.

The invention relates to an underwater sound vertical line array element sensitivity in-situ calibration method based on a high-precision synchronous clock. According to the invention, the non-directional sound source and the standard hydrophone are combined to realize real-time calibration of the sound source level of the non-directional sound source; through the design of LFM signal emission, the anti-interference capability of signals and the multi-frequency-point sensitivity measurement of the underwater acoustic vertical linear array are improved. Time is synchronized by using a high-precision synchronous clock, and time interval data of the non-directional sound source and the underwater sound vertical line array are accurately measured; and calculating the sensitivity of each array element by using the sound source level data of each frequency point, the open-circuit voltage of each frequency point, the average sound velocity and the time interval data so as to realize in-situ calibration. According to the invention, the sound source level of the non-directional sound source is calibrated in real time, and the sensitivity in-situ calibration of the underwater sound vertical line array is realized by combining the time reference provided by the high-precision synchronous clock. The sea test experiment provides a specific embodiment for the in-situ calibration of the underwater sound vertical line array, and the result meets the uncertainty requirement.

The application provides a kind of deep sea umbilical cable sea trial scene structural integrity real-time detection system and method, related to ocean engineering technical field, the system includes core detection module, environmental adaptive module, data fusion processing module, integrated protection installation module, the method includes: sea trial preparation: confirm umbilical cable specification and research vessel winch layout;System installation and calibration: system axis and umbilical cable deployment path alignment, installation, calibration core detection module;Sea trial deployment monitoring: real-time data analysis based on mutation threshold algorithm, scientific decision-making;Real-time data processing and storage: real-time display of outer diameter curve, store data, screen suspicious areas;Umbilical cable recovery monitoring: secondary verification umbilical cable structure state, compare deployment data to generate difference report;System removal and maintenance, analysis to generate integrity assessment report.The application can detect the outer diameter, surface defects in the process of umbilical cable sea trial deployment and recovery in real time.

The application discloses a ship reinforcement learning control method based on motion prediction and belongs to the technical field of ship autonomous control; the method comprises the following steps: constructing a limited time domain motion prediction module trained by a sequence regressor as a prior component, inputting a current state and a candidate action sequence, and outputting a short-time prediction trajectory; combining a prediction module output trajectory and a task cost function into a multi-step value evaluator, realizing short-domain cumulative cost estimation of a state-action sequence, and performing online training of the sequence regressor; designing a sequence type strategy network and training the sequence type strategy network with the goal of multi-step value maximization, and outputting an action sequence with a length of N; only the first step action of the action sequence is issued during online control, so that the low delay requirement is met, and interactive data is written back to an experience replay pool to continuously optimize the model. The application improves the utilization rate of prior sea trial data, reduces the cumulative risk of estimation bias, realizes robust control under a ship black box model, and is suitable for ship track keeping, dynamic positioning and other autonomous control scenes.

The invention relates to the technical field of underwater equipment, in particular to a buoy model-based buoy anomaly detection method, which comprises the following steps of: constructing a buoy model when a profile drifting buoy is in a hovering stage, and performing parameter configuration on the buoy model by using multi-source data through a least square method; acquiring current sea test data returned by the profile drifting buoy; predicting a first outer oil bag volume under a preset drifting depth based on a buoy model, analyzing a second outer oil bag volume in the current sea test data, determining whether an absolute difference value between the first outer oil bag volume and the second outer oil bag volume is smaller than or equal to a preset detection threshold value, and if yes, not performing parameter updating; otherwise, judging whether the buoy model is updated, and if the model is updated, judging that the buoy is in an abnormal state; otherwise, executing a parameter updating step according to the statistical distribution condition of the current sea trial data. According to the invention, based on limited return data, accurate identification of the operation state and dynamic updating of the parameter model are realized.

The invention provides a method for putting an underwater navigation body on an ocean semi-submersible platform, which can improve the test and test efficiency of the underwater navigation body on the sea. The device comprises a semi-submersible platform (1), a truss (2) with a guide rail, a linear motor (3), a driving vehicle (4), a hanging frame (5), an underwater navigation body (6) with a parachute and the like. The driving vehicle (4) loaded with the hanging frame (5) and the underwater navigation body (6) with the parachute starts to run in an acceleration mode from a static state along the truss (2) with the guide rail under the action of the linear motor (3), and when the throwing speed is reached, the hanging frame (5) is opened, and the underwater navigation body (6) with the parachute is thrown. According to the method for putting the underwater navigation body on the ocean semi-submersible platform, the experimental test of putting the underwater navigation body from the air to the water on the sea becomes convenient, a water entry point is easy to capture and measure, and the marine test efficiency of the underwater navigation body is improved.

The invention provides a real-time detection system and method for structural integrity of a deep-sea umbilical cable in a sea test scene, and relates to the technical field of ocean engineering.The system comprises a core detection module, an environment self-adaption module, a data fusion processing module and an integrated protection installation module; the method comprises the following steps: sea test preparation: confirming the specification of an umbilical cable and the layout of a scientific investigation ship winch; system installation and calibration: aligning a system axis with an umbilical cable laying path, and installing and calibrating a core detection module; carrying out sea trial deployment monitoring: analyzing data in real time based on a sudden change threshold algorithm, and carrying out scientific decision making; real-time data processing and storage: displaying an outer diameter curve in real time, storing data, and screening suspicious areas; umbilical cable recovery monitoring: verifying the structure state of the umbilical cable for the second time, and comparing laying data to generate a difference report; and dismantling and maintaining the system, and analyzing to generate an integrity evaluation report. According to the invention, the external diameter and surface defects of the umbilical cable in the marine test laying and recovery process can be detected in real time.

The present application relates to a manned submersible control method based on a neural network disturbance observer, comprising the following steps: step 1, constructing a kinematics and dynamics model of the manned submersible; step 2, processing sea trial data of the manned submersible, calculating input and output data of the neural network, and performing normalization processing on the input and output data to generate training data; step 3, training an LSTM neural network using the training data, and using the trained neural network as an observer to estimate disturbances; and step 4, constructing a model predictive controller to achieve motion control of the manned submersible. The LSTM proposed in the present application can accurately estimate the disturbance received by the manned submersible. The control method of the present application can effectively suppress various disturbances received by the manned submersible, and does not require a control distribution module, thereby simplifying the control process and avoiding the problems of propeller thrust and thrust rate saturation, thereby ensuring high control accuracy.

The invention discloses a sail force matrix verification method through a navigation test, and the method comprises the steps: determining the boosting power generated by a sail through the ship speed and the power change of a main engine when the sail is used or not used by a ship. According to the method, a non-dimensional coefficient curve can be fitted by measuring the navigational speed and power data under at least five relative wind direction angles at the same time, so that the non-dimensional coefficient curve obtained by CFD simulation or a wind tunnel test is verified, and the force matrix of the sail is verified at the same time. According to the invention, the dynamic stress data of the sail in real navigation can be directly obtained, the real marine environment is simulated, and the verification data is more accurate. The sail force matrix is reversely deduced through actual ship test data, and the iteration period of sail design can be greatly shortened.

The application relates to the technical field of underwater equipment, in particular to a buoy anomaly detection method based on a buoy model, which comprises the following steps: constructing a buoy model of a profile drift buoy in a hovering stage, performing parameter configuration on the buoy model by using multi-source data through a least square method; obtaining current sea trial data returned by the profile drift buoy; predicting a first outer oil bag volume under a preset drift depth based on the buoy model, analyzing a second outer oil bag volume in the current sea trial data, determining whether an absolute difference value between the first outer oil bag volume and the second outer oil bag volume is smaller than or equal to a preset detection threshold value, if yes, parameter updating is not needed; otherwise, it is judged whether the buoy model has been updated, if the model has been updated, it is judged that the buoy is in an abnormal state; otherwise, a parameter updating step is executed according to a statistical distribution condition of the current sea trial data. Through the application, accurate identification of an operation state and dynamic updating of a parameter model are realized based on limited returned data.

The invention discloses a marine test verification system for ship greenhouse gas emission reduction based on energy efficiency management and control, and relates to the technical field of ship engineering and marine equipment, and the system comprises a central data server which is in communication connection with the following modules: an energy multi-element integration platform which is used for building a DC distribution board energy management system, all heterogeneous power sources carried by a ship are integrated and coupled with a safe supply and storage system covering an LNG and liquefied natural gas dual-fuel generator set, and a multi-energy offshore test mother platform is formed. The ship direct current distribution board energy management system is constructed, heterogeneous power sources of a ship battery, a fuel cell, an internal combustion engine and a fuel gas supply system are integrated on the same platform, the platform has a plug-and-test function, independent or parallel operation tests of multiple power sources can be synchronously carried out, and the test efficiency is improved. A unified test environment is provided for stability and economy evaluation of a novel emission reduction technology, and systematicness and comparability of offshore verification are improved.

The invention belongs to the technical field of ocean engineering underwater anchoring, and particularly relates to an anchoring device for an underwater docking station and a using method of the anchoring device. The docking station, an electric swivel, a main anchoring cable, a transfer cabin, a releaser and a gravity anchor are sequentially connected, the transfer cabin is provided with a cable pile and a mounting interface of a wet plugging cable, the wet plugging cable is wound on the cable pile, and the cable pile is connected with the cable pile. And one end of the wet plugging cable is mounted at the mounting interface of the wet plugging cable, and a plug at the other end of the wet plugging cable is pulled by the manned submersible to be connected to the junction box during underwater connection. According to the invention, reliable connection between the docking station and the submarine junction box can be realized, and continuous energy supply and bidirectional data communication functions are provided for the unmanned underwater vehicle (UUV). The anchoring device has excellent ocean current adaptability, and the stability and the success rate of UUV butt joint are improved. A sea test shows that connection between the submarine junction box and the docking station and connection operation between the submarine junction box and the UUV can be effectively achieved.

The invention discloses a floating type seawater uranium extraction module suitable for a sea test and an implementation method. The floating type seawater uranium extraction module comprises a seawater uranium extraction device, a balance floating ball, a balance weight block, a connecting main rope, a safety auxiliary rope and a fixing object. The device for extracting uranium from seawater comprises an amidoxime-based membrane, a flow guide layer, a non-woven fabric, a shell and water-permeable seal heads at two ends, the balance floating ball and the balance weight block are connected to the upper surface and the lower surface of the seawater uranium extraction device correspondingly and used for cooperatively adjusting buoyancy and posture stability of the seawater uranium extraction device in seawater. And one ends of the connecting main rope and the safety auxiliary rope are connected with the seawater uranium extraction device, and the other ends are connected with a fixture, so that the seawater uranium extraction device keeps stress balance in seawater and can adaptively adjust the overflowing direction. According to the floating type seawater uranium extraction module convenient to assemble and capable of adapting to various sea conditions, the fixing problem of a seawater uranium extraction device in a sea test is effectively solved, the water exchange capacity of a material is improved, the uranium extraction efficiency is improved, and meanwhile the attachment influence of marine fouling organisms is effectively reduced.

This invention provides a method and system for monitoring radar masts on sea-trial vessels based on laser vibration measurement. The method includes: determining an initial modal database corresponding to numerical simulations of radar mast vibration; acquiring vibration velocity signals from multiple target monitoring points on the radar mast during sea trials, as well as rotational speed pulse sequences corresponding to the rotational speeds of rotating machinery; determining the natural vibration frequency of the radar mast, the target vibration amplitude, and the target vibration frequency corresponding to the rotating machinery, based on the vibration velocity signals, rotational speed pulse sequences, and the initial modal database; and determining a multi-level early warning strategy for radar mast vibration during sea trials based on a dynamic threshold model, the natural vibration frequency, the target vibration amplitude, and the target vibration frequency. The solution provided by this invention can improve the accuracy and reliability of vibration monitoring during sea trials, thereby improving the safety of ship navigation and reducing the probability of major accidents and maintenance costs.

This invention relates to a deep-sea vehicle-mounted weighing device, weighing method, and deep-sea mining capacity verification method, applied to a deep-sea mining vehicle. It includes a mineral storage box with a door on its side wall and a weighing module installed at the bottom. The weighing module comprises an upper cylinder and a lower cylinder coaxially arranged, with a piston cylinder surrounding both cylinders. The upper cylinder has an upper cavity with a load-bearing piston rod slidably connected within it, and the upper cavity is connected to the outside seawater. The lower cylinder has a lower cavity, which is a sealed chamber. The load-bearing piston rod in the upper cylinder is movably connected to the mineral storage box, and the lower cylinder is fixedly connected to the mining vehicle. This invention allows for the weight measurement of minerals collected by the mining vehicle on the seabed, thereby verifying the mining vehicle's capacity during sea trials and advancing the design process of the entire mining system.

The invention discloses an underwater moving target line spectrum enhancement method based on short-time Chirp-Fourier transform, and the method comprises the steps: 1, carrying out the windowing processing of original time domain data s (t), calculating the short-time Fourier transform, and determining the number N of target line spectrums and the frequency deviation range within the time T; 2, determining a search range of a linear frequency modulation factor k according to a signal time length and a frequency deviation range; 3, performing midpoint Chirp-Fourier transformation on each linear frequency modulation factor k, and searching the maximum value of the linear frequency modulation factor k by comparing the signal amplitude in the transformed target frequency band; and 4, carrying out short-time Chirp-Fourier transformation on the original signal data, reconstructing a signal time-frequency diagram, and realizing target frequency offset correction. According to the method, the Chirp-Fourier transformation is utilized to recover and enhance the frequency offset signal, and the enhanced signal is utilized to reconstruct the signal time-frequency graph, so that the signal-to-noise ratio of the target line spectrum is improved. A sea trial processing result shows that the method effectively realizes enhancement of the target line spectrum and has a good application prospect.

The invention relates to the technical field of ship generator sets, and discloses a cooling system for a marine generator set to be conveniently added, replaced and installed on an offshore test bench, which comprises a bottom plate connected with a cooling system expansion water tank module of a to-be-tested system. The system cooling system expansion water tank module to be tested is connected with a diesel generating set module to be tested, and the system has the characteristics of dynamic parameter adjustment, scene-based template configuration and the like, and can meet the test requirements of test generating sets with different powers; the special to-be-tested cooling system is composed of two to-be-tested system fresh water cooling pumps, a cooler, a pressure sensor, a temperature control valve and pipeline valve accessories. The pressure sensor arranged at the outlet of the cooling pump can monitor the stability of the water supply system in real time; the additionally arranged temperature control valve can automatically control the temperature of cooling water; the cooling water pump is controlled in a variable-frequency manner, and the water pump displacement can be automatically adjusted in real time to adapt to test requirements of generator sets of different models.

The application discloses a kind of underwater acoustic signal's space-time stabilization method, system and storage medium, output space-time signal energy spectrum enters wideband stabilization module, judge its output as reverberation background part input to reverberation stabilization module, judge its output as noise background part input to narrowband stabilization module, output after processing is stabilized after space-time energy chart, finally through energy detection obtains the azimuth, distance and intensity information of target.Data verification is carried out by sea trial, the application can realize space-time signal stabilization in underwater long-distance target detection, solve the interference problem of reverberation, high-power white noise and colored noise, realize the effective detection of long-distance target echo.

This invention discloses a method for enhancing the line spectrum of underwater moving targets based on short-time Chirp-Fourier transform, comprising: Step 1: enhancing the original time-domain data s ( t ) Perform windowing processing, calculate the short-time Fourier transform, and determine the number of target line spectra. N and time T Step 2: Determine the linear frequency modulation factor based on the signal duration and frequency offset range. k Search range; Step 3: For each linear frequency modulation factor k Perform a midpoint Chirp-Fourier transform and compare the signal amplitude within the target frequency band after the transform with the linear frequency modulation factor. k Step 4: Perform a short-time Chirp-Fourier transform on the original signal data to reconstruct the signal time-frequency diagram, thereby achieving target frequency offset correction. This invention utilizes the Chirp-Fourier transform to recover and enhance the frequency offset signal, and then uses the enhanced signal to reconstruct the signal time-frequency diagram, improving the signal-to-noise ratio of the target line spectrum. Sea trial results show that this method effectively enhances the target line spectrum and has good application prospects.

This invention discloses a near-field passive target tracking method based on a feedback mechanism using a towed array subarray. The method includes the following steps: S1, subarray division: Based on the required detection distance, the number of elements in the towed array, and the element spacing, the number of elements in the first and last subarrays is selected. With fixed towed array parameters, to ensure spatial non-correlation of the incoming wave signal, the further the detection distance, the larger the spacing between the two subarrays, and the smaller the number of elements in the subarrays. S2, beamforming: Based on the judgment result of the detector, a suitable beamforming algorithm is selected to solve for the target's azimuth information. S3, parameter setting: Based on the beamforming algorithm selected in S2 and combined with actual sea trial conditions, the measurement noise variance is adjusted. This invention, using only a single towed array, leverages the spatial non-correlation of the first and last subarrays of a long towed array, and utilizes focused beamforming and particle filtering algorithms under a feedback mechanism to achieve passive target direction finding, positioning, and tracking.

The invention discloses a ship final assembly construction carbon footprint rough calculation method and system, and belongs to the technical field of ship final assembly construction. Ships are classified according to design characteristics of different ships; based on the corrected total tonnage and the correction coefficient, constructing a derivation model by using various ship experience charts, and estimating the main size and the main coefficient of the ship; constructing a task load estimation model, and estimating the task load of each process and sea test of ship final assembly construction; based on the task load, constructing each process emission model of ship final assembly construction, and estimating the carbon footprint of the ship final assembly construction; and finally, based on the method, a software program for roughly calculating the ship final assembly building carbon footprint is developed. According to the method, different ship types correspond to different correction coefficients, estimation can be carried out according to different ship types and different sizes of the ships, compared with an existing method, the method has wider applicability and operability, and the method has great significance in reducing ship greenhouse gas emission and achieving the zero emission target of the ship industry.