35 results about "Vector sensor" patented technology

The application discloses a kind of vector sensor network real-time positioning method and system based on magnetic moment invariant, belongs to magnetic anomaly detection field, solve the problem that actual positioning performance is low in traditional network positioning method, real-time and positioning accuracy is poor.The technical points of the present application are as follows: in the positioning of distributed magnetic sensor network, the real-time magnetic field information observed by the magnetic sensor node is inverted, and a method for constructing a cost function with fewer parameters is proposed based on the magnetic moment invariant, reducing the number of parameters to be solved.The present application is suitable for actual outdoor positioning scene.

The invention discloses a micro double-arm vector sensor and a preparation method thereof, and belongs to the technical field of optical fiber sensing. According to the technical scheme, the micro double-arm vector sensor comprises a broadband light source, a first single-mode optical fiber, a second single-mode optical fiber, a first coupling point, an interference arm with a core shift structure, a sensing arm, a second coupling point, a third single-mode optical fiber, a fourth single-mode optical fiber and a spectrum analyzer. The Mach-Zehnder interferometer has the advantages that a micro-double-arm Mach-Zehnder interferometer is formed on the basis of a core shift structure, an asymmetric structure is formed, light transmitted in the asymmetric structure is more sensitive to changes of the bending size and direction, and the vector bending sensitivity is high. Meanwhile, an online Mach-Zehnder interferometer needs to introduce a special optical fiber with high price in order to monitor the vector bending, and the structure only needs a single-mode optical fiber with low price, and is more suitable for batch production.

1. The name of the design product: embankment hidden danger detection vector sensor. 2. The use of the design product: used in the field of water conservancy engineering, specially buried or placed in the interior and surface of the dam, and the hidden dangers such as seepage and cavity are detected by sensing the vector information of physical field. 3. The design points of the design product: the combination of shape and pattern. 4. The picture or photo that best indicates the design points: front view.

The invention relates to the field of state monitoring, in particular to a transformer substation secondary safety measure tool installation state real-time capturing method and system, and the method comprises the following steps: obtaining a magnetic induction vector sensor signal, calculating the magnetic induction change of adjacent time points, judging whether the change rate exceeds a threshold value or not, calculating the strain change rate, and comparing the strain change rate with the threshold value. According to the method, accurate monitoring of the tool installation state is achieved through the sensor technology and data analysis, tool approaching, contact and action time points are accurately recognized through collection and analysis of magnetic induction and strain data, and the tool installation state event data are generated. According to the tool state management method, the tool state management system and the tool state management system, the tool state management system and the tool state management system are integrated and bound and verified with the operation ticket data, so that the real-time performance and precision of monitoring are improved, human factor interference is avoided, the feedback capability of the equipment state is enhanced, safety and reliability are improved, and compared with a traditional technology, efficient and accurate tool state management is achieved, and dynamic monitoring of equipment operation is optimized.

The present application belongs to the field of sound field reconstruction and sound source identification technology, and discloses an equivalent source sound field positioning method and system based on sparse sound intensity measurement, which acquires the complex sound pressure and complex particle velocity at the measurement point on the holographic surface through a vector sensor array, and calculates the measured sound intensity vector; constructs a sound intensity transfer matrix based on the equivalent source method, establishes a linear measurement equation between the measured sound intensity vector and the equivalent source intensity vector; by using the spatial sparsity of the equivalent source intensity, the solving of the equivalent source intensity vector is converted into an L1 norm sparse optimization problem, and a convex optimization algorithm is used to solve it to obtain the optimal equivalent source intensity vector; based on the optimal equivalent source intensity vector, the acoustic quantity at any point in the target sound field is reconstructed by combining the free field Green function. The present application uses the active component of the sound intensity vector to suppress non-related noise, improves the ill-conditioned inversion by combining the compressive sensing theory, and can realize high robustness and high precision sound source positioning and sound field reconstruction without reference microphones.

The utility model discloses a corrector for a vector sensor mounting rack, which belongs to the technical field of helicopter part correcting equipment, and comprises a large cylinder, the cylindrical surface of which is provided with a transverse inner hole for mounting measuring equipment; the small cylinder is connected to the end face of one side of the large cylinder; the large cylinder is connected with a tested piece through the small cylinder; the reference plane is arranged on the cylindrical surface of the large cylinder and is parallel to the axes of the large cylinder, the small cylinder and the transverse inner hole; the level assembly is arranged on the reference plane; the limiting assembly is arranged on the cylindrical surface of the small cylinder and is used for positioning and fixing the relative position between the reference plane and the measured piece; according to the invention, the levelness of the datum plane is quantified to the visual level assembly, and an accurate and reliable reference basis is provided for mounting, debugging and detecting the vector sensor mounting rack.

The application discloses a kind of self-adapting transfer function equalization vector sensor background noise measurement method and system, belong to underwater acoustic sensor technical field.The output signal of the vector sensor to be measured and the reference signal of reference sensor are obtained;Based on the reference signal input to adaptive filter, the weight coefficient of adaptive filter is dynamically updated by adaptive algorithm, to establish the time-varying transfer function model from reference sensor to the sensor to be measured;Based on time-varying transfer function model, the reference signal is processed, and the result that input signal is transferred to the sensor to be measured by reference sensor transfer function compensation is obtained;The output signal of the vector sensor to be measured and the compensated signal are input into DHCM algorithm, and the background noise estimation of the sensor to be measured is obtained.The application is used to solve the problem that indirect measurement algorithm for different sensors will be distorted, aims at effectively improving the accuracy and environmental adaptability of low-frequency band background noise measurement.

The application discloses a signal processing method and device of a three-dimensional integrated MEMS sound vector sensor, and belongs to the technical field of sound signals in a three-dimensional space. The application utilizes MEMS sound vector sensitive chips placed on two pairs of parallel corresponding sides, the sensitive directions of the four MEMS sound vector sensitive chips and the horizontal direction can be any angle, and the sound signal distribution in the three-dimensional space is obtained by solving the four vector velocity signals. Compared with a traditional orthogonal structure, the application can reduce the directional asymmetry problem caused by the MEMS sound vector sensitive chips not sharing a point, reduce the asymmetry of the axial sensitivity, and provide the possibility of the point correction of the back end. In addition, because the MEMS sound vector sensitive chips can be placed at any angle, the problem caused by the chip placement angle error during assembly can be reduced.

The invention discloses a vector sensor background noise measurement method and system based on adaptive transfer function equalization, and belongs to the technical field of underwater acoustic sensors. Acquiring an output signal of the to-be-measured vector sensor and a reference signal of the reference sensor; inputting a reference signal into an adaptive filter, and dynamically updating a weight coefficient of the adaptive filter through an adaptive algorithm to establish a time-varying transfer function model from the reference sensor to the sensor to be tested; processing the reference signal based on a time-varying transfer function model, and obtaining a result of compensation of the input signal to the transfer function of the to-be-tested sensor through the reference sensor transfer function; and inputting the output signal of the vector sensor to be measured and the compensated signal into a DHCM algorithm to obtain background noise estimation of the sensor to be measured. The method is used for solving the problem of distortion of an indirect measurement algorithm for different sensors, and aims to effectively improve the accuracy and environmental adaptability of low-frequency-band background noise measurement.

The invention is suitable for the technical field of sound source localization, and provides a small-space sound source localization system and method based on a triaxial acoustic sensor, and the system comprises a sensor module, an acquisition system, a processing system and an auxiliary module. The sensor module is a single three-axis acoustic vector sensor; the acquisition system comprises a signal conditioning circuit and a high-speed ADC (Analog to Digital Converter) and is used for conditioning and synchronously sampling signals acquired by the sensor module; the processing system comprises a data processing unit; the auxiliary module comprises a precision clock source and a temperature and humidity sensor, the precision clock source is used for ensuring the signal synchronization precision of each channel, and the temperature and humidity sensor is used for collecting environment temperature and humidity data in real time; according to the method, high-precision three-dimensional positioning can be realized only by a single sensor, the problems of complex deployment, high cost, difficult synchronization and the like of a traditional multi-sensor array system are solved, and the method is particularly suitable for industrial equipment fault diagnosis, abnormal sound source tracking and other small-space application scenes.

The application discloses a device and a method for measuring the local density of states of a sound field, and the measuring device comprises a sound source, a square waveguide, a MEMS silicon microphone and an acoustic vector sensor; one end of the square waveguide is connected with the sound source, and the other end is embedded with the MEMS silicon microphone and the acoustic vector sensor which are attached to the inner wall of the square waveguide. By measuring the particle velocity of the end surface of the waveguide, the volume flow rate of the waveguide into the measured structure can be obtained, and the local density of states of the measured structure can be calculated by combining the sound pressure obtained by the MEMS silicon microphone. The application overcomes the difficulty that the volume flow rate of the sound source in a narrow area cannot be accurately measured by using the vector detection technology, realizes the experimental measurement of the local density of states of the sound field, can be applied to the characterization of acoustic structural materials, and provides guidance for the design of acoustic radiation structures.

The present application relates to the field of signal processing, in particular to a kind of signal autonomous detection and classification method based on single vector sensor;The method first utilizes the sound pressure and particle velocity data received by vector sensor to calculate the coherence coefficient of each frequency point and extract phase, obtain phase fluctuation factor by analyzing the statistical characteristics of phase change with time;Then set fluctuation factor threshold, obtain the preliminary detection result of signal using the difference of signal and noise phase fluctuation;Finally, the secondary detection of time length and bandwidth is carried out through the preliminary detection result of signal, and the detection result is classified into narrowband line spectrum signal and wideband signal;Compared with other signal detection techniques based on spectral energy, the present application can provide more robust signal autonomous detection result, and the detection result can be further used for target direction finding and identification.

This invention belongs to the field of underwater acoustic engineering technology, specifically relating to a self-contained vector sensor highly robust attitude calibration system and method for uncertain environments. The azimuth reference self-calibration module is integrated into the magnetic compass circuitry of the vector sensor; this module processes GPS azimuth modulation signals transmitted from cooperative targets during the autonomous calibration phase; the self-contained module performs self-contained data storage. This invention addresses the performance limitations of existing technologies due to reliance on magnetic compasses, thereby reducing magnetic compass deviations or inaccuracies in complex underwater environments.

This invention relates to a line spectrum detection technique for ship targets under strong background noise interference in the field of underwater acoustic signal processing. It is applicable to the detection of line spectrum signals when they are severely affected by environmental noise or the Puller effect. The underwater target line spectrum signal received by a single-vector sensor exhibits polarization characteristics, while the polarization characteristics of random noise differ from those of the signal. Research on this polarization characteristic in the field of underwater acoustic signal processing is limited. Therefore, this invention calculates the spectral matrix of the line spectrum signal received by the single-vector sensor, performs singular value decomposition on it, and proposes suitable polarization characteristic parameters for line spectrum signal detection. This invention can significantly reduce interference from Gaussian white noise, Gaussian colored noise, and actual marine environmental noise, providing a new approach for the detection of weak line spectrum signals. Furthermore, this invention is simple to operate, has a moderate computational load, and produces clear and stable results, making it widely applicable.

The high-sensitivity piezoelectric hydrophone comprises a sound transmission cover, a hydrophone body is installed on the inner side of the sound transmission cover, and the hydrophone body comprises a piezoelectric ceramic sensitive element, a pre-amplifier, a vector sensor PCD, a signal transmission module and an upper computer communication module; the invention relates to the technical field of hydrophones, a lead zirconate titanate piezoelectric ceramic ring is adopted as a core sensitive element, and the response sensitivity and stability to underwater weak sound signals are remarkably improved in combination with special structural design and polarization treatment; a high-input-impedance and ultra-low-noise preamplifier is integrated, output characteristics of piezoelectric ceramics are accurately matched, signal attenuation is reduced, system floor noise is reduced, and clear capture of effective signals in a complex environment is ensured.

The utility model discloses an auxiliary tool for horizontal verification of a vector sensor corrector, and belongs to the technical field of helicopter part verification equipment calibration. A small end support block; the two transverse horizontal adjusting bolts are arranged on the two sides of the large-end supporting block respectively; the longitudinal horizontal adjusting bolt is connected to the lower part of the small-end supporting block; the two transverse horizontal adjusting support legs are respectively connected with the two transverse horizontal adjusting bolts; the longitudinal horizontal adjusting support leg is connected with the longitudinal horizontal adjusting bolt; the two ends of the connecting rod are connected with the large-end supporting block and the small-end supporting block respectively, so that the inclination angle of the large-end supporting block is matched with the inclination angle of the small-end supporting block; by controlling and adjusting the transverse horizontal adjusting support leg and the longitudinal horizontal adjusting support leg, the reference plane of the vector sensor corrector is quickly aligned, the gradienter is accurately leveled, and high-precision calibration of the horizontal parameters of the vector sensor corrector is realized.

The invention relates to the technical field of wind power sensing, and discloses a wind vector sensor and a wind vector sensing system. The wind vector sensor comprises a shell, a wind energy sensing assembly, a signal generation assembly and a signal analysis assembly. Air inlets of at least two containing cavities are formed in the circumferential outer wall of the shell at intervals. The fixed end of a sensing unit in the wind energy sensing assembly is fixed, and the free end of the sensing unit is arranged opposite to the corresponding air inlet and used for generating vibration. A generating unit in the signal generating assembly is located on one side, in the first direction, of a sensing unit corresponding to the generating unit, and the generating unit is used for generating a corresponding vibration signal according to the vibration state of the sensing unit through non-contact relative movement when the generating unit vibrates. And the signal analysis assembly is connected with the signal generation assembly and is used for acquiring the vibration signal and processing the vibration signal. The wind vector sensor can effectively respond under the conditions of low wind speed and variable wind directions, synchronously obtain wind vector information, and can stably run for a long time through self power supply in an extreme environment.

The invention discloses a sound source localization method based on an NV-SRP neural network model, and relates to the technical field of sound source localization, and the sound source localization method based on the NV-SRP neural network model mainly comprises the steps: constructing a training and testing data set according to an acoustic vector sensor signal receiving model and an SRP-PHAT algorithm, and training the sound source localization network to obtain a trained sound source localization network, and predicting target sound source localization to obtain a prediction result. By implementing the sound source localization method based on the NV-SRP neural network model provided by the invention, the sound source localization precision and stability can be improved.

The application discloses a full-space acoustic vector sensor array calibration method and system, which comprises the following steps: constructing an acoustic vector sensor array, arranging at least three non-coplanar calibration sound sources around the array; obtaining acoustic signals, performing frequency domain processing, and obtaining frequency domain data of array sound pressure channels and particle velocity channels; constructing a first loss function with phase difference information as a physical constraint from the frequency domain data of the array sound pressure channels, training a position error estimation neural network established, and outputting position error parameters of each vector sensor in the array; updating the geometric model of the array, calculating the incident azimuth and elevation angle of the calibration sound source relative to each array element; constructing a second loss function with energy projection information as a physical constraint from the incident azimuth and elevation angle and the frequency domain data of the particle velocity channels, training an orientation error estimation neural network established, and outputting orientation error parameters of each vector sensor; and completing array calibration from the position and orientation error parameters.

The curved surface measuring device comprises a plurality of vector sensors, each of which comprises a body and a vectorizer connected to the body. The vectorizer comprises a straight extension, an end of which is provided with a connector for connecting to the body of another vector sensor; a sensor chip for sensing the vector of gravity; and a wireless communication circuit for transmitting the sensing value of the sensor chip to the outside through a wireless communication channel. The device can further comprise a computing device for calculating the vector value of the extension of the vectorizer relative to gravity. The calculation result is a plurality of points in space, based on which a curve can be drawn. The application also discloses a manufacturing method of the vectorizer.

The invention belongs to the technical field of detection devices, particularly relates to a stainless steel diamagnetic performance detection device, and solves the problems that a traditional device is single in detection position, easy to interfere, low in material taking efficiency and incapable of analyzing the element ratio. An L-shaped supporting arm is arranged on a workbench of the device, a fixing rod I is arranged at the bottom end of an output shaft of an in-arm air cylinder, and a plurality of magnetic vector sensors are arranged at the bottom end; the workbench is provided with a driving structure which comprises a groove, a rotating shaft, a rubber roller and the like, and a bearing disc pushes a stainless steel plate when moving up and down through cooperation of a one-way bearing, a straight gear and a rack; in the discharging structure, a fixed disc drives an antimagnetic shielding box, and a push plate is driven by a pin rod I, a rotating disc and the like to push out a stainless steel plate; an extrusion structure is further arranged, a hydraulic cylinder pushes an extrusion roller to be matched with an extrusion groove to conduct cold bending on the stainless steel plate, and the element proportion is detected and analyzed again; the method is mainly used for stainless steel diamagnetic performance detection and element ratio analysis.

The invention belongs to the technical field of sound field calculation, and particularly relates to a sound field calculation method, program and equipment for an open cylindrical cavity embedded rigid spherical scatterer based on modal matching and spectrum expansion and a storage medium. Unified solution of intra-cavity scattering and outer domain radiation is realized through a column mode expansion and sphere-column wave function interchange relation, a mode radiation impedance matrix is constructed to eliminate an outer domain unknown spectral quantity by using a Somerfeld spectrum to naturally meet an outer radiation condition, and a numerical solution analysis framework is formed. According to the method, the calculation efficiency is remarkably improved while the geometric accuracy is guaranteed, and the method is suitable for sound field prediction and optimization design of a complex perforated structure, acoustic material and vector sensor integrated system.

This application discloses an active magnetic compensation method, system, computer device, computer-readable storage medium, and computer product based on a BP neural network, used to compensate for residual magnetism in a magnetically shielded room. The active magnetic compensation method includes: acquiring a magnetic field signal based on the residual magnetism in the space, wherein the magnetic field signal is obtained by detecting the residual magnetism in the space using a magnetic field vector sensor, and the magnetic field signal is divided into multiple paths according to vector information; receiving the multiple magnetic field signals; processing the multiple magnetic field signals using a first BP neural network; and outputting a corresponding control signal, wherein the control signal is used to drive a magnetic field compensation device to perform negative feedback adjustment of the residual magnetism in the space. This application solves the problems of low compensation accuracy and large magnetic field interference caused by magnetic field leakage in the magnetically shielded room and magnetic field coupling in different axes of the coil. By simulating the coupling and decoupling process of the magnetic field in three-dimensional space through the multi-layer feedforward mechanism of the BP neural network, the effect of active magnetic compensation is improved.

The invention discloses a method for manufacturing an optical fiber magnetic field sensor based on Fe3O4 magnetic fluid and glass microspheres. The method comprises the following steps: step 1, manufacturing a welding structure of a single-mode optical fiber and a quartz capillary; 2, injecting Fe3O4 magnetic fluid into the quartz capillary C1 in the cascade structure: injecting the Fe3O4 magnetic fluid into the quartz capillary C1 by using an injector, wherein a needle head of the injector is formed by drawing another quartz capillary C2 to be fine enough to penetrate through the inner diameter of the quartz capillary C1 by using an optical fiber fused biconical taper machine; 3, putting the barium titanate microspheres into a quartz capillary C1 to form a cascaded FPI structure; and 4, carrying out post-processing and packaging on the prepared sensor structure. According to the manufacturing method, the optical fiber magnetic field vector sensor which is simple and compact in structure, easy to manufacture, complete in sealing and high in sensitivity can be manufactured.

This invention belongs to the field of sound field reconstruction and sound source identification technology. It discloses an equivalent source sound field localization method and system based on sparse sound intensity measurement. The method involves acquiring complex sound pressure and complex particle velocity at measurement points on a holographic surface using a vector sensor array, and calculating the measured sound intensity vector. A sound intensity transfer matrix is ​​constructed based on the equivalent source method, establishing a linear measurement equation between the measured sound intensity vector and the equivalent source intensity vector. Utilizing the spatial sparsity of the equivalent source intensity, the solution for the equivalent source intensity vector is transformed into an L1 norm sparse optimization problem, solved using a convex optimization algorithm to obtain the optimal equivalent source intensity vector. Based on the optimal equivalent source intensity vector, the acoustic quantities at any point in the target sound field are reconstructed using a free-field Green's function. This invention utilizes the active component of the sound intensity vector to suppress uncorrelated noise and combines compressed sensing theory to improve the ill-conditioned nature of the inversion, achieving highly robust and accurate sound source localization and sound field reconstruction without the need for a reference microphone.

The invention provides a sound source orientation estimation method and device based on an acoustic vector sensor, and relates to the technical field of acoustics, and the method comprises the steps: constructing an actual measurement model of the acoustic vector sensor; obtaining sensitivity levels corresponding to each channel of the acoustic vector sensor under multiple frequencies, and determining an amplitude-frequency response function according to the sensitivity levels; establishing a polynomial fitting model of the amplitude-frequency response according to the amplitude-frequency response function, and determining an optimal fitting polynomial of the amplitude-frequency response data based on the polynomial fitting model; compensating an actual measurement model of the acoustic vector sensor according to the optimal fitting polynomial to obtain a compensation signal; determining an acoustic vector signal covariance matrix after amplitude-frequency response compensation according to the compensation signal; and a spatial spectrum function is constructed according to the acoustic vector signal covariance matrix, and the sound source orientation is determined based on the spatial spectrum function, so that the influence of non-ideal amplitude-frequency response of the acoustic vector sensor can be effectively suppressed, and the sound source orientation estimation precision is improved.

The invention provides an aircraft sound source positioning method and device based on a sound vector scalar fusion sound array. The method comprises the following steps: firstly, constructing an acoustic vector scalar fusion acoustic array by using an acoustic vector sensor and an acoustic pressure scalar microphone which are used for simultaneously measuring a three-dimensional acoustic vector and an acoustic pressure scalar, measuring an acoustic signal emitted by a sound source of a target aircraft, and establishing a far-field signal receiving model of the acoustic vector scalar fusion acoustic array; then, projecting an acoustic vector signal of the acoustic vector scalar fusion acoustic array to an observation direction to obtain an acoustic pressure signal expression after spatial filtering of an acoustic vector sensor, and converting a receiving signal model of the acoustic vector scalar fusion acoustic array into a receiving signal model in the observation direction, which is completely formed by acoustic pressure signal forms; and finally, for the signal receiving models in different observation directions, a beam forming method or a subspace method is adopted, and sound source localization can be realized on the basis of suppressing environmental noise. Compared with a traditional sound pressure scalar sound array, the broadband sound source space position of the aircraft is obtained more accurately, and a basis is provided for aircraft acoustic performance test research, airworthiness evidence obtaining and model identification.

The invention discloses a magnetic source high-precision positioning method and device based on single vector sensor space maneuvering, and aims to solve the problems that a traditional magnetic gradient tensor positioning method depends on a sensor array, error correction is complex, and the positioning precision is low due to the fact that the traditional magnetic gradient tensor positioning method is easily interfered by a geomagnetic field. The invention provides a magnetic source high-precision positioning device and method based on single vector sensor space maneuvering. According to the scheme, a single-vector magnetic sensor is controlled to carry out maneuvering measurement at six preset spatial symmetrical measurement points, a magnetic gradient tensor is constructed by utilizing differential operation of magnetic field data of each measurement point, and sensor device errors and environmental interference are decoupled through two times of differential processing of measurement data at different positions, so that the measurement accuracy is improved. And finally, the accurate three-dimensional position of the magnetic source is calculated. According to the method, the hardware structure is simplified, complex correction is not needed, stable and high-precision positioning can still be kept under various error working conditions, and the method is suitable for magnetic target detection in the fields of aerospace and military national defense.

The invention provides a boiler water wall deformation displacement measurement system and method. The system comprises a monitoring server and a plurality of multi-vector sensors. Each multi-vector sensor comprises a frame and four sensing assemblies, the four side faces of the frame are each connected with one sensing assembly, each sensing assembly comprises a laser distance measuring sensor and a two-dimensional position detector, and the laser distance measuring sensors and the two-dimensional position detectors are in communication connection with the monitoring server. One sensing assembly is installed on each of the four side faces of the frame, the two-dimensional position detector serves as a displacement monitoring device and also provides a reflecting surface for the laser distance measuring sensor opposite to the two-dimensional position detector, and the laser distance measuring sensor measures the relative displacement between the two adjacent multi-vector sensors while measuring the relative displacement between the two adjacent multi-vector sensors. And induction light spots are provided for the two-dimensional position detector. The multi-vector sensors are arranged on the back fire side of the boiler water-cooled wall in a rectangular array mode, and overall monitoring of the large-area boiler water-cooled wall is achieved.

This invention provides a method and apparatus for three-dimensional passive target localization. The method includes: placing a vector vertical array in water to receive broadband sound pressure and vector signals radiated by a target sound source; correcting the vector channel signals using data recorded by a vector sensor attitude device; constructing a two-dimensional steering vector in the azimuth and angle of arrival domains of the sound pressure and vector channels to obtain the target's azimuth estimate, angle of arrival estimate, and broadband beam output sound field; matching the target's angle of arrival estimate with angle of arrival template values ​​under different assumed sound source distances to estimate the target's distance; obtaining a multipath arrival delay estimate to estimate the depth of the target sound source. This invention utilizes a deep-sea vector vertical array combined with two-dimensional spatial power spectrum estimation, angle of arrival matching, and arrival delay matching to achieve three-dimensional passive localization of the target's azimuth, distance, and depth. It overcomes the limitation of traditional deep-sea scalar vertical arrays that cannot provide target azimuth information.