123 results about "Sonar system" patented technology

The invention belongs to the technical field of underwater acoustic engineering and digital signal processing, and particularly relates to a fractional delay FIR (Finite Impulse Response) phase calibration method and system of a multichannel sonar system. Comprising the steps of signal acquisition and reference channel selection; high-precision relative delay estimation; calculating a cross-correlation function of other channel signals and the reference channel signal, performing coarse estimation by searching a peak point of the amplitude of the cross-correlation function, and performing fine estimation on the peak position by using a parabola interpolation method to obtain the delay time of each channel relative to the reference channel; designing an FIR fractional delay filter; digital filtering and phase calibration; verifying a calibration effect; and calculating the phase of each channel signal at the target frequency point after calibration, and counting the standard deviation of each channel signal so as to evaluate the improvement degree of phase consistency. The method aims at overcoming the defect that traditional integral multiple sampling delay correction precision is insufficient, high-precision phase compensation of a sub-sampling point level is achieved, and therefore the performance of algorithms such as beam forming of a multi-channel sonar system is remarkably improved.

The invention discloses a high-frequency shallow water bottom reverberation signal modeling method, and belongs to the technical field of underwater acoustic engineering and signal processing. The method comprises the following steps: setting a modeling hypothesis; a cylindrical array geometric structure is constructed, scattering units are divided, and channel parameters and scattering functions are obtained in combination with a Bellhop tool and a GABIM model; generating a reverberation signal time domain expression, deducing an array receiving signal spatial domain expression and calculating a spatial spectrum; the model can also adjust underwater environment parameters to realize simulation under different conditions, and performs time domain and space domain theoretical analysis on reverberation signals based on a cylindrical array. Multi-dimensional underwater environment parameters are fused, and the modeling precision is improved; a receiving and transmitting combined cylindrical array is adapted, and spatial gain is embodied; experiments prove that the average error is within 3dB, the practicability is outstanding, support can be provided for design and optimization of the sonar system, and the method is suitable for underwater reverberation signal simulation and characteristic analysis of the sonar system in the high-frequency shallow water environment.

The invention discloses a dynamic reconfigurable towed linear array sonar system and an optimization method. The system comprises a water surface mother ship, a towed cable towed by the mother ship, and a towed platform connected to the tail end of the towed cable. A sonar array storage bin and a control system are arranged in the dragging platform; a cable track is fixedly arranged on the outer surface of the dragging cable; the device further comprises a plurality of sonar sliding blocks, and the sonar sliding blocks are meshed with the cable track through sliding grooves in the sonar sliding blocks so that the sonar sliding blocks can slide along the cable track. A sonar unit is installed on the sonar sliding block. A front driving mechanism and a rear driving mechanism are arranged at the head end and the tail end of the sonar sliding block correspondingly and used for driving the sonar sliding block to ascend or descend along the cable track. According to the invention, the attitude of the towing cable is changed by actively controlling the relative spatial position of the towing platform and the mother ship, and the sonar array attached to the cable is remodeled accordingly. Finally, by monitoring acoustic performance feedback, a'perception-decision-control-optimization 'closed-loop system is formed.

The invention relates to the technical field of underwater operation equipment, solves the problems that existing dam underwater crack repairing depends on divers or complex equipment, the automation degree is low, the construction period is long, the comprehensive cost is high and the adaptability is poor, and particularly relates to concrete dam underwater crack repairing and leaking stoppage equipment which comprises a robot for underwater cruise, and the robot comprises a machine body; the cruise vision module comprises a foresight navigation lens group, a look-around lens group, a bottom wide-angle lens, an active illumination system, an obstacle avoidance sonar system and a topographic mapping sonar; the crack detection module comprises a crack scanning ultrasonic detector, a high-resolution strip-shaped scanning lens group, a laser ray scanner, a multispectral imager, a laser distance measuring sensor, a water flow sensor and an attitude sensor, the crack repairing module comprises two groups of mechanical arms for punching and grouting, and the central controller controls the robot to execute. Crack filling, structure bonding recovery and long-acting sealing are achieved, and meanwhile the construction difficulty and the comprehensive cost are reduced.

The invention relates to an underwater acoustic transducer which can resist long-term work under the condition of deep sea high water pressure, is high in sensitivity, wide in band, low in noise and high in electromagnetic interference resistance, is used in deep sea detection and communication sonar systems, and solves the problems that an existing underwater acoustic transducer is low in receiving sensitivity along with increase of water pressure, poor in long-term work corrosion resistance and low in cost. And noise of the hydrophone and external electromagnetic interference cause signal interference. A novel high polymer material is adopted to reduce acoustic impedance, enhance the coupling effect with seawater and reduce sound wave reflection loss. Meanwhile, by optimizing the internal structure design, the stability and durability of the device under the deep sea high pressure condition are ensured. And the hydrophone shell is made of an alloy material with good corrosion resistance, so that the hydrophone shell is prevented from being corroded in a marine environment for a long time, and the service life is prolonged. By improving the design and manufacturing process of the transducer, the transducer can cover acoustic signals in a broadband range, and the multi-spectrum requirement of a deep sea detection and communication system is met. Advanced noise suppression technology and shielding measures are adopted, noise of the hydrophone is effectively reduced, external electromagnetic interference resistance is improved, and it is guaranteed that high-quality acoustic data are obtained in a complex deep sea environment. In conclusion, the invention provides the hydrophone which is excellent in working performance in the deep sea high-pressure environment, has the characteristics of high sensitivity, broadband response and the like, can effectively resist the influence of a severe environment, and provides key technical support for deep sea detection and a communication sonar system.

The invention relates to the technical field of unmanned ship intelligent cruise, in particular to an unmanned ship intelligent cruise method and system based on multi-modal perception, and the method comprises the steps: determining a current navigation direction according to a current unmanned ship coordinate and a target task coordinate, carrying out the edge recognition of a remote sensing satellite image, and obtaining an obstacle contour image; performing contour boundary smoothing processing on the obstacle contour image to obtain an obstacle boundary image, performing path feasibility planning according to the obstacle boundary image, a radar system and a sonar system to obtain a coordinate navigation data set, and performing optimal path selection based on the coordinate navigation data set to obtain an optimal navigation path. According to the invention, the globality and efficiency of path planning of the unmanned ship can be improved, and fuel consumption and navigation time in the cruising process of the unmanned ship are reduced.

The acousto-optic combined underwater target autonomous searching and positioning method comprises the following steps: establishing an underwater target searching platform based on an underwater unmanned vehicle; pre-establishing an underwater target detection model on the underwater target searching platform; inputting a given target type, a task area and a target quantity into a task decision system; the task decision-making system firstly identifies information transmitted from the sonar system; the task decision system identifies information transmitted from the optical camera system; the task decision-making system judges the suspicious target object; the underwater unmanned vehicle continues to search or return voyage on the given target type, task area and target number, or acousto-optic combination is carried out in a return voyage target detection mode, and sonar detection and optical detection are combined far and near, and large-range preliminary screening and approaching recognition confirmation are combined; the underwater target searching efficiency is improved, the detection and discovery capability is also improved, and the problems of low searching efficiency, difficult positioning and the like are solved.

The application discloses an underwater crack sonar image simulation method, a storage medium and equipment, crack regions of a binary graph in optical crack data are migrated to a target model of a sonar system for observation, crack sonar images under different simulation parameters are obtained based on a sonar ray tracing principle, and a typical acoustic atlas is provided for detection of underwater cracks by using a sonar device, so that the problem that various forms of underwater cracks lack typical expressions in sonar images in the field of detection of underwater structure cracks by using a sonar technology at present is solved, and a basis is provided for subsequent related work of accurate identification of underwater structure cracks through sonar images.

The invention relates to the technical field of ship water area depth detection, and discloses a ship water area depth detection method and system, which captures an echo signal by introducing an energy threshold, and further judges the time multiple relationship and the specific energy relationship between potential main echoes and potential secondary echoes to determine the water area depth of a ship. The problem of depth misjudgment caused by weak real underwater echo signals of a traditional sonar system in a complex water area environment is effectively solved. Compared with the traditional identification logic which only depends on'the first arrival and the strongest energy ', the method provided by the invention can more accurately identify the real bottom echo, even if the energy is very weak, thereby avoiding the situation that the secondary echo is misjudged as the real water bottom echo, remarkably improving the accuracy and reliability of water depth detection, and improving the accuracy and reliability of water depth detection. Especially in challenging environments such as organism attached to a ship body or soft sludge at the water bottom, more reliable depth information guarantee is provided for ship navigation.

The present application relates to a kind of sonar system compensation circuit and method based on multi-channel switching;Wherein the circuit uses cascade architecture, the core is to use domestic CBMG708 multiplexer to build at least one program-controlled gain stage, by the gain resistance of different resistance in series after each selection end is connected to operational amplifier, multiple signal channels with 6dB gradient basic gain are formed.Combined with FPGA+ARM dual-core control module, according to target action distance, corresponding channel is gated in real time, the fast and accurate gain compensation of sonar signal of different distances such as near, middle and far is realized.The method ensures that the output signal amplitude in the whole distance range is higher than the detection threshold, while having the advantages of small gain error, low power consumption and supply chain controllable, effectively solves the problem of insufficient flexibility and slow response of traditional single-channel compensation circuit.

The application provides a cylindrical array sonar system and a target detection method based on high-resolution beam forming. The method comprises the following steps: converting a beam forming weight vector of a received sound wave signal into a Kronecker product, combining a joint probability density model to construct a negative log-likelihood function, and optimizing a vector in an azimuth dimension and an elevation dimension through a preset direction constraint condition to form a high-resolution beam; performing correlation analysis on echo signals reflected by a target at different azimuth angles and elevation angles and on transmitted sound wave signals at different time delays; constructing a three-dimensional matrix containing a distance, an azimuth angle and an elevation angle according to a correlation analysis result, performing normalization processing on the three-dimensional matrix to eliminate signal intensity differences, and outputting a target detection positioning result. Through the combination of Kronecker integral decomposition and three-dimensional matrix modeling, the application realizes high-resolution joint positioning detection of a target in an azimuth angle, an elevation angle and a distance dimension, effectively eliminates signal intensity differences, and improves positioning accuracy.

The present application relates to the technical field of sonar imaging, and particularly relates to a multi-beam sonar compressed imaging method and system based on depth unfolding, which comprises the following steps: a multi-beam sonar system is used to emit sound waves to the seabed, and a receiving device is used to receive reflected echo signals to obtain multi-channel digital time sequence echo signals; an observation matrix is constructed to compress and sample the multi-channel digital time sequence echo signals to obtain a low-dimensional measurement matrix; the low-dimensional measurement matrix is input into a trained depth unfolding beamforming network to output a reconstructed beamforming spectrum, and a sonar sounding image is generated according to the beamforming spectrum. The present application can greatly improve the imaging speed and support real-time applications such as underwater obstacle avoidance and online monitoring.

The application discloses a non-Rayleigh sonar array reverberation simulation signal generation method, relates to the technical field of ocean reverberation signal simulation, and mainly comprises the following steps: generating multiple mutually independent uniformly distributed random sequences by using an improved linear congruential generator; obtaining a random sequence of gamma distribution by an exponential distribution summation method; obtaining a sequence subject to Rayleigh distribution; and combining the random sequence of gamma distribution and the sequence subject to Rayleigh distribution to obtain a reverberation signal simulation sequence subject to K distribution. The method is suitable for simulation of reverberation signals in land testing of an active sonar system. The improved linear congruential generator and the exponential distribution summation method are adopted to reduce the calculation amount, generate the reverberation signal simulation sequence of K distribution, adapt to the trend that the reverberation signal deviates from the Rayleigh distribution and is subject to the K distribution along with the improvement of the spatial resolution of the sonar, simulate the characteristics of the reverberation signal generated during actual active sonar operation as much as possible, and improve the accuracy of ocean reverberation signal simulation.

The invention relates to the technical field of underwater acoustic imaging and three-dimensional reconstruction, in particular to an underwater three-dimensional imaging method based on an orthogonal sonar system. Performing feature extraction based on the horizontal sonar image and the vertical sonar image to obtain a horizontal feature point set and a vertical feature point set; performing feature clustering processing to form a plurality of target candidate regions; feature points from different sonars are located in a unified spatial reference coordinate system; performing feature matching between the horizontal feature point set and the vertical feature point set based on the spatial position information and the echo intensity information of the feature points to obtain matched feature point pairs; and fusing the distance and azimuth information in the horizontal sonar image and the distance and elevation angle information in the vertical sonar image, calculating the position coordinates of the target feature points in the three-dimensional space, and generating three-dimensional point cloud data of the target. The problem that elevation angle information of the two-dimensional sonar is lost is effectively solved, and the system cost and the structural complexity are reduced.

The application belongs to the technical field of underwater acoustic signal processing, and provides a direct wave signal suppression method of a continuous wave active sonar detection system, comprising the following steps: obtaining a receiving signal of a hydrophone and calculating an original time-frequency spectrum of the sound intensity of the receiving signal; performing first filtering processing on the original time-frequency spectrum, wherein the first filtering processing is used for filtering a continuous direct wave main component term in the original time-frequency spectrum; performing second filtering processing on the result of the first filtering processing, wherein the second filtering processing is used for filtering a continuous direct wave-target echo interference term in the result of the first filtering processing, and wherein logarithmic transformation is performed on the result of the first filtering processing before the second filtering processing is performed. The method provided by the application can effectively suppress the high-intensity direct wave signal component contained in the original underwater acoustic signal received by a bistatic continuous wave active sonar system.

The invention relates to the technical field of low-frequency sonar systems, in particular to an active azimuth history graph suspected target prompting method based on image segmentation, which comprises the following steps: firstly, carrying out binarization processing on an active azimuth history graph through a maximum between-class variance method, then, carrying out morphological processing and connected region analysis on a binary image to realize 8 connected region marking, and finally, carrying out image segmentation on the image; secondly, calculating the area and the mass center of each connected region, filtering the region with the large area to obtain a discrete target region mask image, multiplying the discrete target region mask image with an original binary image to obtain a discrete target region image, and finally, carrying out BFS search on the mass center of each discrete target region to obtain a discrete target region image; and calculating the sum of the Euclidean distances between the active azimuth history graph and five nearest connected regions, marking the mass centers of five discrete target regions with the maximum Euclidean distance sum on the active azimuth history graph, and realizing isolated bright spot positioning, thereby realizing automatic prompting of suspected targets in the active azimuth history graph of the sonar system so as to reduce the difficulty of target identification of a worker.

This invention relates to the field of intelligent cruise technology for unmanned surface vessels (USVs), and discloses an intelligent cruise method and system for USVs based on multimodal perception. The method includes: determining the current navigation direction based on the current USV coordinates and the target mission coordinates; performing edge recognition on remote sensing satellite images to obtain obstacle contour images; smoothing the contour boundaries of the obstacle contour images to obtain obstacle boundary images; performing path feasibility planning based on the obstacle boundary images, radar systems, and sonar systems to obtain a coordinate navigation dataset; and selecting the optimal path based on the coordinate navigation dataset to obtain the optimal navigation path. This invention can improve the globality and efficiency of USV path planning and reduce fuel consumption and travel time during USV cruise.

A transducer system comprises a removable sonar lens, a transducer unit, and a cable extending from the transducer unit to couple the transducer unit to an electronic display unit. The transducer unit may include a main transducer housing, a sonar transducer positioned within the main transducer housing, and an attachment mechanism to enable the sonar lens to removably attach to the main transducer housing adjacent to the sonar transducer. The removable sonar lens can modify the sonar signals generated by the sonar transducer.

The invention discloses a multi-subarray combined linear array sonar array element position calibration method, belongs to the technical field of array sonar detection, and can be applied to digital calibration of all array element positions of a multi-subarray combined linear array sonar. According to the method, single-frequency signals are transmitted in a far field, self-adaptive phase difference estimation is carried out on the collected signals, the distance between adjacent array elements of adjacent sub-arrays is calculated, and therefore accurate estimation of the positions of all the array elements is achieved. Compared with a traditional mode, the method is higher in array element position estimation precision, and the detection capability and the direction finding precision of a subsequent sonar system can be effectively improved.

The embodiment of the application relates to an algorithm and a device of a Bayesian classifier of a non-uniform background, which are applied to an underwater active sonar system, the algorithm comprising: obtaining underwater data to be measured and auxiliary data through the active sonar system; the number K of the auxiliary data is greater than 0; modeling classification of the unknown covariance matrix structure into a binary hypothesis testing problem; hypotheses of the binary hypothesis testing problem comprise H i Wherein i=0, 1, H0 is a case that the unknown covariance matrix is a complex conjugate symmetric matrix; H1 is a case that the unknown covariance matrix is a real symmetric matrix; a Bayesian model is set, the Bayesian model comprising a complex inverse Wishart random matrix and a real inverse Wishart random matrix; a classifier for distinguishing the two hypotheses is obtained by using a minimum error probability criterion.

A system is provided for imaging an underwater environment. The system includes two or more arrays of transducer elements. Each array is operated at a fixed phase shift and varies in frequency so as to beamform multiple sonar return beams of a first range of angles and a second range of angles. The arrays can be oriented to create arcs of sonar coverage extending forward from a watercraft, from each side of the watercraft, and downward of the watercraft. Accordingly, multiple 2D live sonar images can be formed. One or more of the multiple sonar return beams can be selected and used to form sonar images that anglers are used to, without requiring separate transducer elements.

A minehunting system (20) comprising a first and a second unmanned underwater vehicle (UAV) is disclosed. The first UAV (22) is trained to proceed on a predetermined course (32) to an object (34) in the water, generating a situational awareness picture (50) using a sonar system while proceeding and identifying the object (34). The second UAV (24) is trained to proceed on the predetermined course (32) to an object identified as the identified mine, with the second UAV and / or a base station being trained to monitor and, if necessary, adjust the current course (32) of the second UAV based on the situational awareness picture (50) of the first UAV. The second UAV (24) is further trained to disarm the mine.

The invention discloses a double-layer flexible vibration isolation device for a ship sonar system, which relates to the technical field of sonar vibration isolation and comprises an outer plate assembly, a middle vibration isolation frame and an inner plate assembly. The outer plate assembly comprises at least three outer frame connecting plates; the inner plate assembly comprises at least three array supporting plates; the middle vibration isolation frame comprises a plurality of inner side walls and a plurality of outer side walls, the inner side walls and the outer side walls are distributed in the circumferential direction around the axis of the middle vibration isolation frame, and the inner side walls and the outer side walls are in one-to-one correspondence. The array supporting plates are distributed on the inner side of the middle vibration isolation frame and correspond to the inner side walls in a one-to-one mode. The array supporting plates and the inner side walls are connected through two symmetrical S-shaped flexible beams. The S-shaped flexible beam is provided with inner connecting ends and outer connecting ends, and the distance between the two inner connecting ends on the array supporting plate is different from the distance between the two outer connecting ends on the inner side wall. The inherent frequency of the S-shaped flexible beam is lower than that of the first flexible connecting piece. High-performance vibration isolation can be provided, and application in limited installation space is met.

A system and method for generating three-dimensional (3D) images using sonar technology comprises a circular phased array to create 3D point clouds from the echoes of a single sonar ping and may be configured to measure Doppler shift. The circular phased array is a circular receiver array that is combined with a single, wide opening angle projector that transmits at least one pulse of acoustic energy. The echoes from this pulse are received by the circular array. The signals from the receiver elements are combined using Delay and Sum beamforming processes to perform spatial filtering with resolution as discussed above. The system and method combine advantages of Mills Cross systems and square arrays, providing high-resolution, instantaneous 3D imaging employing a 1D array, leading to a more efficient and scalable design.

The invention provides a passive sonar system-oriented full-complex-value underwater acoustic signal enhancement method and a target neural network, which can be applied to the field of underwater acoustic signal processing. The full-complex-value underwater acoustic signal enhancement method comprises the following steps: converting an underwater radiation signal into an initial complex-value time-frequency spectrogram; performing down-sampling on the initial complex value time-frequency spectrogram, and outputting N complex value down-sampling features of N scales; respectively processing the N complex value down-sampling features based on a complex value convolution block attention mechanism, and outputting N first complex value attention features; processing the Nth complex value down-sampling feature based on a multi-dimensional complex value attention mechanism, and outputting a second complex value attention feature; and sequentially splicing the N first complex-valued attention features with the second complex-valued attention features, and performing up-sampling on the complex-valued attention features obtained by splicing after each time of splicing, thereby obtaining a de-noised target time-frequency spectrogram based on the complex-valued up-sampling features output by the complex-valued decoder group.

The invention discloses a multi-mode aperture imaging sonar method and system, and the method and system achieve synthetic aperture imaging through the processes of orthogonal demodulation, pulse compression, intra-frame beam forming and inter-frame synthetic aperture, and expand the processes of single-beam real aperture imaging and multi-beam real aperture imaging in parallel on the basis of synthetic aperture imaging. Wherein the single-beam imaging data is acquired in a manner of performing channel superposition and resolution equalization on the pulse compression data, the multi-beam imaging data is acquired in a manner of performing azimuth matching on the intra-frame beam forming result data, and finally, the output of three acoustic diagrams is realized; according to the technical scheme of the invention, the single-beam imaging method, the multi-beam imaging method and the synthetic aperture imaging method are compatible in a manner of reasonably configuring the parallel data path and module cooperative relationship of each imaging process, the advantages of each imaging method are integrated, and the resource utilization rate is improved. And the adaptability of the sonar system to the imaging mode and the coverage of the sonar system to the application scene are expanded.

The present invention discloses a method for dimensionality reduction representation of a sound velocity profile using Rossby wave modes, which relates to the field of dimensionality reduction of sound velocity profiles and includes the following steps: quantifying the stratified characteristics of the target sea area; calculating the Rossby wave modes based on the Brent-Vaisala frequency to obtain the first five-order Rossby wave modes; converting the 0th to 5th order Rossby wave modes into sound velocity perturbation modes based on the temperature gradient of the stratified temperature profile; obtaining the coefficients of each sound velocity perturbation mode during the sound velocity profile reconstruction process; representing and reconstructing the sound velocity profile using the coefficients in the sound velocity profile reconstruction process. This method can quickly reconstruct any sound velocity profile that conforms to physical laws, providing support for ensuring the detection performance of the sonar system. This method has very low sample requirements and can even be implemented by relying on global ocean data products such as WOA23 in the absence of historical measurement samples of the sea area.

The present application belongs to the technical field of signal interception and passive sonar system, and relates to a sonar pulse interception method and product based on MCP architecture, which comprises the following steps: obtaining a sonar pulse signal to be analyzed; based on the MCP architecture, using a trained Mamba model as the core of time series data processing to extract the long-time dependence features of the sonar pulse signal to be analyzed, and then inputting the long-time dependence features into a large language model to obtain higher-level feature understanding; converting the generated feature understanding into features and fusing the features with the long-time dependence features to obtain the waveform category and signal parameters of the sonar pulse signal to be analyzed, so as to realize the interception and classification of the sonar pulse signal. The present application has strong operability and good application prospect, and can be applied to incoming wave interception tasks in other fields.

The utility model relates to a device for detecting the receiving state of a sonar power amplifier, which comprises a sonar power amplifier pre-stage circuit, a sonar power amplifier post-stage circuit and a detection control display module, the detection control display module comprises a signal conditioning circuit and a micro-processing circuit, the output end of the sonar power amplifier pre-stage circuit is connected with the input end of the sonar power amplifier post-stage circuit, and the output end of the sonar power amplifier post-stage circuit is connected with the signal conditioning circuit. The output end of the sonar power amplifier post-stage circuit is connected with the input end of the signal conditioning circuit, the output end of the signal conditioning circuit is connected with the micro-processing circuit, the micro-processing circuit is connected with the upper computer to realize communication, and the signal conditioning circuit and the micro-processing circuit are both connected with the direct-current main power supply to provide driving power for the direct-current main power supply. Compared with the existing sonar power amplifier receiving state detection device, the device provided by the utility model detects the equivalent output impedance of the power amplifier circuit under different working frequencies under the condition that the system cannot work stably due to the interaction of the front and rear stages of the power amplifier in the sonar system, and ensures that the front and rear stage circuits in the sonar system can work stably.

1. Name of the product in this design: Image Sonar (Ultra-wide-angle multi-beam acoustic sensor). 2. Purpose of this design: A sonar system used to detect, locate, and sense underwater targets using sound waves in water. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.