59 results about "Sea trial" patented technology

The invention discloses a sensor calibration test system and a calibration test method for UUV intelligent perception, belongs to the technical field of underwater robots, and aims to solve the problems that the capability evaluation of the UUV intelligent perception system is difficult to realize, the credibility, the reliability and the accuracy are poor, and the UUV intelligent perception system cannot be fully matched with the actual application environment and cannot be optimized due to the existing underwater multi-mode comprehensive perception calibration mode. And the development and improvement of the intelligence of the UUV are directly influenced. The sensor calibration test system can simulate various motion modes of the underwater vehicle and the underwater target in navigation, so that a large number of calibration samples are formed, the three-dimensional imaging sonar, the underwater camera and the magnetometer can realize calibration of working parameters based on the underwater acousto-optic magnetic comprehensive beacon arranged on the underwater target, and the calibration precision is improved. After sensor calibration is completed, the system can be used for testing the calibration effect of the sensor, and the number of times and cost of sea test calibration are effectively reduced.

The invention relates to a phase-undistorted underwater sound source line spectrum enhancement method based on deep learning, and belongs to the technical field of underwater sound detection and sonar. The problems of low signal-to-noise ratio, interruption, Doppler frequency shift and the like of a moving sound source line spectrum and the limitation that a traditional enhancement method is greatly influenced by the signal-to-noise ratio and only nonlinear noise can be processed are solved. Generating training data set pairs and setting labels according to line spectrum model simulation, and verifying generation and setting of a data set; an overall architecture and key components of the FRCRN based on deep learning; designing a loss function of combining the CIRM with a weight scale invariant signal-to-noise ratio (SI-SNR); according to the method, the phase undistorted line spectrum enhancement of the underwater target sound source is successfully realized by utilizing the FRCRN. The method has remarkable advantages in the aspects of distortion-free performance and signal-to-noise ratio gain, and the SNR and the SI-SNR can achieve the gain of 7dB or above under the condition of color noise simulation. After the SwellEx-96 sea test data line spectrum is enhanced, the SNR gain and the SI-SNR gain can be respectively improved by 5.37 dB and 6.18 dB, and the target orientation estimation spatial spectrum gain is improved by 3.79 dB.

The invention discloses a method for evaluating the EEDI contribution of a wing-shaped sail based on actual ship sea trials, and relates to the technical field of ships. The method comprises: conducting actual ship performance tests on ships equipped with sails to obtain main engine power required to maintain a target speed when the sails are in different operating states at various relative wind direction angles; obtaining a net thrust test coefficient of the sail at various relative wind direction angles at the target speed based on the main engine power; obtaining a net thrust simulation coefficient curve of the sail at various relative wind direction angles at the target speed based on a four-degree-of-freedom motion model of the ship; comparing the net thrust simulation coefficient curve of the sail with the net thrust test coefficient of the sail to establish a revised four-degree-of-freedom motion model of the ship in a sail-raising operating state; and calculating sail thrust matrix elements and sail EEDI contribution corresponding to a reference speed and any combination of wind field conditions based on the four-degree-of-freedom motion model of the ship in the sail-raising operating state and the four-degree-of-freedom motion model of the ship without sails. The method has the characteristics of being objective, realistic, and operational.

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.

The invention discloses an underwater low-frequency impact test system and method, and belongs to the technical field of ship marine tests and equipment.The underwater low-frequency impact test system comprises a vertical impact testing machine, a low-frequency oscillator and a piezoelectric acceleration sensor, and the vertical impact testing machine comprises a mechanical system, a basic system, a hydraulic system, a mechanical system and a control system; the low-frequency oscillator and the piezoelectric acceleration sensor are arranged on the upper side of a mechanical system of the vertical impact testing machine, the basic system is arranged below the mechanical system, the hydraulic system is connected with the mechanical system, and the piezoelectric acceleration sensor, the mechanical system and the hydraulic system are all connected with the control system. The underwater non-contact explosion working condition is simulated through the developed impact machine test, the low-frequency oscillator and the acceleration sensor are arranged, the trend term error in the impact acceleration signal is removed by adopting empirical mode decomposition, and the impact response spectrum is corrected by taking the displacement line of the low-frequency oscillator and the like as the correction basis, so that the accurate measurement and reduction of the low-frequency impact environment are realized.

The present invention relates to an auxiliary recovery system and recovery method for underwater rocket-powered vehicles, belonging to the technical field of underwater vehicle marine test recovery. The system includes a jettisoning mechanism for separating a jettisonable nose section from a recovery position-indicating section to jettison the jettisonable nose section, a parachute ejection device for ejecting a parachute inside the system out of the recovery position-indicating section to open the parachute, a smoke generator for emitting smoke for easy identification, a satellite position-indicating device for locating the rocket-powered vehicle's position at sea, a sensor assembly for acquiring the water depth, speed, and attitude information of the rocket-powered vehicle and transmitting it to a control module, and a recovery control module for issuing corresponding instructions to the jettisoning mechanism, the parachute ejection device, the smoke generator, and the satellite position-indicating device based on information fed back by the sensor assembly. Based on this system, rapid recovery of a negatively buoyant underwater rocket-powered vehicle with a speed exceeding 80 knots can be achieved with high recovery reliability.

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 present application relates to a kind of joint detection method based on suppressive jamming and target multidimensional difference characteristic, for passive sonar target, the method constructs frequency domain focusing matrix to frequency domain base array data is weighted, obtain the matrix of directional power spectral density;Based on the minimum variance criterion of guidance, construct adaptive beam forming optimal weight coefficient, obtain the beam domain frequency domain data of adaptive weighting;All beams are traversed, extract multidimensional difference characteristic, and obtain joint detection result based on multidimensional difference characteristic.The present application improves the anti-interference processing gain of weak target under suppressive jamming, effectively reduces the blind area range of suppressive jamming, greatly improves the detection efficiency of passive sonar target under suppressive underwater acoustic countermeasure jamming environment;The method is verified by simulation and sea trial data, and the weak target detection ability of the present application under suppressive jamming is obviously superior to traditional energy detection method, and effectively reduces the detection blind area range under suppressive jamming.

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 belongs to the technical field of ocean seismic data acquisition, and particularly relates to a depth-keeping design method for a shallow-section cable, which comprises the following steps: firstly, determining the resistance, tension and lift of the cable in seawater, and respectively calculating the required maximum tension under the conditions of no ocean current, countercurrent and downstream; the weight of the depth setting equipment is designed through the obtained maximum tension; two optimization design schemes of auxiliary cable sinking equipment and depth-keeping equipment and single depth-keeping equipment are obtained, a final design scheme is determined by combining a specific sea test experiment, according to the scheme, the profile during collection can be kept consistent, is not influenced by downstream and countercurrent, and is stabilized at a specific water depth position, and the design efficiency is improved. The optimal acquisition result profile can be obtained, and the method has high practical application value and application effect.

The present invention discloses an online modeling and prediction method for the state information of an unmanned ship based on simulation technology, which relates to the technical field of unmanned ship simulation testing. A database system for the unmanned ship is constructed, including simulation data obtained by simulating an unmanned ship model in a real flow field of star-ccm+ and a Noetic ocean environment, as well as data collected during real sea trials. A nonlinear reservoir computing algorithm based on a sliding window algorithm is designed to perform online modeling and prediction of the state information. By combining the dynamic characteristics of computational fluid dynamics, physical simulation environment, and real ocean environment, the present invention can enable the unmanned ship to realize online modeling and prediction of state information using small sample data in the real ocean environment, provide effective prior information for collision avoidance, planning, and control of the unmanned ship, and safely and effectively complete the navigation task.

The buoy comprises a spherical shell, a debugging socket, a socket protection cover, a main control circuit board, two LED lamp mounting plates, two battery modules, a fixator, a debugging button, an antenna, a plurality of water level detection modules and a plurality of water level detection module protection covers, wherein the water level detection modules and the water level detection module protection covers are consistent in number. The device can be used for emergency rescue of various kinds of water operation equipment, and is high in practicability, high in reliability, low in cost, easy to maintain, high in LED lamp brightness and long in observable distance. The positioning search and rescue buoy is a spherical positioning device specially used for offshore tests of overwater operation equipment, accurate position information can be provided in the test process, meanwhile, an LED lamp panel is integrated so that visible signals can be sent out at night or under the low-visibility condition, and safety and controllability of the tests are guaranteed. The equipment has the characteristics of water resistance, corrosion resistance and impact resistance, can stably work for a long time in a severe marine environment, and is suitable for various marine test requirements of overwater operation equipment.

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.

The invention provides a UUV passive target tracking and intelligent maneuvering strategy simulation verification system and method, and belongs to the technical field of analog simulation. The invention aims to solve the problems that the existing UUV underwater passive tracking verification generally needs a sea test, the economic cost and the time cost are increased, and the risk of UUV loss is increased. The passive target tracking simulation system comprises a remote control module, a target tracking module and a target tracking simulation module, the process that the UUV executes a passive target tracking task in the ocean is achieved in the simulation system, and the passive target tracking simulation system is used for testing the accuracy of online tracking of the target tracking module and target motion element calculation. A real sea test is replaced, problems existing in the passive target tracking module are found through simulation verification, the economic cost and the time cost brought by the sea test are reduced, and the risk that the UUV is lost in the ocean can be reduced.

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 present invention provides a method, device, and apparatus for evaluating ship performance. The method comprises: obtaining target environmental data and target ship performance data during ship operation; determining an actual delivered fuel consumption rate based on the target ship performance data; determining an environmentally corrected fuel consumption rate based on the target environmental data and the target ship performance data; determining a reference delivered fuel consumption rate based on received ship model data and sea trial data; determining a ship comprehensive energy efficiency index based on the reference delivered fuel consumption rate, the actual delivered fuel consumption rate, and the environmentally corrected fuel consumption rate; and evaluating ship performance based on the ship comprehensive energy efficiency index and a preset index threshold to obtain a ship performance evaluation result. The present invention eliminates the influence of environmental, operational, and other factors in actual testing, can reflect the actual performance of a ship, and is of great significance to ship energy conservation and emission reduction.

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 belongs to the technical field of ship motion, and discloses a ship LAAV motion model parameter identification method based on a dynamic immune genetic algorithm, which comprises the following steps of: constructing an identification model fitness criterion function by using ship real sea test data, setting a hyper-parameter adaptive adjustment mechanism, and performing several-generation selection, intersection, variation and immune operation on an initial population to identify ship LAAV motion model parameters. And finally determining model parameters. According to experimental verification, unknown parameters in a ship LAAV motion model are optimized by utilizing a DIGA framework in combination with sea test data, and an optimal solution is substituted into the LAAV model to generate AVP (Attribute, Velocity, Position) data in a simulation manner. The test result shows that the DIGA method has the advantages of high precision and high convergence speed in the LAAV model parameter identification problem, and the similarity between the generated AVP data and the sea test data is more than 90%.

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 present invention discloses an underwater passive positioning method that combines multi-scale feature extraction and transfer learning, comprising: obtaining acoustic wave data of a sound source to be located in a simulation environment; performing feature extraction on the acoustic wave data of the sound source to be located to obtain acoustic wave characteristics of the sound source; inputting the acoustic wave characteristics of the sound source into a positioning prediction model to predict the distance and depth of the sound source, wherein the positioning prediction model is obtained by training a training set, wherein the training set is waveform data of sound pressure at different frequencies; and performing domain transfer of the acoustic wave positioning problem of the sound source in the simulation environment to a real sea trial environment to perform underwater sound source positioning. The present invention can fully capture the acoustic diversity and dynamic change characteristics of the marine environment, improving the model's adaptability to the real environment.

The application discloses a kind of active sonar adaptive target velocity measurement and absolute position estimation method, adopt active sonar transmission waveform as the combined signal of wideband+single frequency, reverberation ellipse fitting is carried out through the reverberation data of single frequency signal, and then the estimated value of ship speed and array deflection angle is calculated, simultaneously determine Doppler filtering range, target position is obtained by wideband signal decision result, and its index single frequency signal processing result corresponding position is filtered to measure speed, obtain target relative radial velocity, finally, the relative distance and angle of wideband signal judgment, ship GPS information, the absolute position of target is calculated by the modified array deflection angle.It is verified by sea trial data that the application can solve the problem that single frequency reverberation filtering range is difficult to determine and absolute position is difficult to calculate under the condition of missing array deflection angle information, realize the effective acquisition of target absolute position and relative radial velocity under the detection mode of wideband+single frequency combined wave signal.

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.