CN111914641A - Target depth identification method and system based on modal intensity matching analysis - Google Patents

Target depth identification method and system based on modal intensity matching analysis Download PDF

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CN111914641A
CN111914641A CN202010611697.1A CN202010611697A CN111914641A CN 111914641 A CN111914641 A CN 111914641A CN 202010611697 A CN202010611697 A CN 202010611697A CN 111914641 A CN111914641 A CN 111914641A
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郑恩明
陈新华
李嶷
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Institute of Acoustics CAS
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Abstract

The invention discloses a target depth identification method and a system based on modal intensity matching analysis, wherein the method comprises the following steps: the method comprises the steps that water surface platform radiation noise carried by a horizontal towed linear array is used as a guide source, and a modal domain energy value of the water surface platform radiation noise is obtained by a modal domain beam forming method; carrying out normalization processing to obtain a modal intensity distribution value and matrix representation, and taking the matrix representation as a matching reference; normalizing the modal domain energy value of the radiation noise of the target to be deeply judged to obtain the matrix representation of the target to be deeply judged in the horizontal towed linear array modal domain; performing correlation analysis on matrix representation of a target to be judged in the depth in a horizontal towed linear array modal domain and a matching reference to obtain a correlation coefficient; and identifying the depth of the target to be judged according to the correlation coefficient to obtain a judgment result. The method overcomes the defects of the depth matching estimation technology, and reduces the influence of the mismatch of the marine environment parameters and the mismatch of the acoustic field model on the depth estimation effect.

Description

Target depth identification method and system based on modal intensity matching analysis
Technical Field
The invention relates to the field of sonar signal processing, in particular to a target depth identification method and system based on modal intensity matching analysis.
Background
The underwater target depth identification is an important component of a modern sonar system, is an important link of the sonar system for post-data processing, and is particularly suitable for an underwater sound countermeasure system. Because the method for identifying the target by independently depending on the signal time-frequency characteristics is difficult to meet the use requirement, a new way is urgently needed to solve the problem of identifying the target depth from the picked sound pressure data. In order to effectively identify the depth of the target in water, a related learner proposes to adopt a matching field processing method to realize depth estimation of the target. The method fully corrects the modal distribution of waves, realizes sampling on depth by using a vertical array, calculates copy field vectors by using a normal wave acoustic propagation model, and then matches the copy field with a measurement field to realize the target depth estimation, but the method has the problems of large calculation amount, long time consumption, large influence of environmental parameters and the like. In order to solve the problems that a matching field positioning method is greatly influenced by environmental parameters and the like, a related scholars propose a copy sound field calculation method based on double guide sound sources and warping transformation. However, the method has certain requirements on guiding a sound source, has certain difficulty in practical application, and simultaneously needs to realize depth sampling of a normal wave mode based on a vertical array. In order to avoid the problem of target depth identification by using a vertical array, relevant scholars successively propose to identify the shallow sea target depth by using the reactive component sign change of sound intensity flow, but the critical depth is too large, so that the depth identification is not suitable; and subsequently, the target depth identification is realized by means of target frequency dispersion feature extraction, modal domain processing and the like, but the method has certain requirements on ocean parameter information.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a target depth identification method and system based on modal intensity matching analysis.
In order to achieve the above object, the present invention provides a method for identifying a target depth based on modal intensity matching analysis, the method comprising:
the method comprises the steps that water surface platform radiation noise carried by a horizontal towed linear array is used as a guide source, and a modal domain energy value of the water surface platform radiation noise is obtained by a modal domain beam forming method;
normalizing the modal domain energy value of the radiation noise of the water surface platform to obtain a modal intensity distribution value and matrix representation, and taking the matrix representation as a matching reference;
normalizing the modal domain energy value of the radiation noise of the target to be deeply judged to obtain the matrix representation of the target to be deeply judged in the horizontal towed linear array modal domain;
performing correlation analysis on matrix representation of a target to be judged in the depth in a horizontal towed linear array modal domain and a matching reference to obtain a correlation coefficient;
and identifying the depth of the target to be judged according to the correlation coefficient to obtain a judgment result.
As an improvement of the above method, the method specifically comprises:
step 1) according to the depth z of the radiation noise of the water surface platform in the horizontal towed linear array0And calculating the modal domain energy value Y of the radiation noise of the water surface platformsum(f, l) is:
Figure BDA0002562315530000021
wherein rho is density, S (f) is amplitude-frequency response of the target sound source at a frequency point f, phil(z) denotes the mode function at depth z, denotes the complex conjugate, klDenotes the ith horizontal beam, l is 1,2, …, M denotes the total number of modes, r1The distance from a target sound source to a first array element of a horizontal towed linear array is set, and L is a residual component corresponding to other orders of modes;
step 2) according to the distance and the amplitude, carrying out mold treatment on each step of the horizontal towed linear arrayThe influence consistency in the state is realized by normalizing the modal domain energy value of the radiation noise of the water surface platform to obtain the l-order modal intensity distribution value Pl(f,z,z0) And the matrix representation form P (f, z)0)：
Figure BDA0002562315530000022
Figure BDA0002562315530000023
Wherein [ ·]TRepresenting a matrix transposition;
step 3) carrying out normalization processing on the modal domain energy value of the radiation noise of the target to be deeply judged to obtain a matrix representation P of the target to be deeply judged in the horizontal towed linear array modal domainS(f,z,zs) Comprises the following steps:
Figure BDA0002562315530000031
wherein z issIs the target depth;
step 4) adding P (f, z) of step 2)0) As a matching reference, PS(f,z,zs) Carrying out correlation analysis with the matching reference to obtain correlation coefficient R (f, z)s) Comprises the following steps:
Figure BDA0002562315530000032
wherein cov [ P (f, z)0),PS(f,z,zs)]Is P (f, z)s) And PS(f,z,zs) Covariance of d (P (f, z)0) Is P (f, z)0) Variance of d (P)S(f,z,zs) Is P)S(f, z, zs) variance;
step 5) correlating the relation numbers R (f, z)s) Maximum peak value of max [ R (f, z)s)]Comparing with a threshold value to obtain the depth of the target to be judgedzsThe judgment result of (1):
when max [ R (f, z)s)]When the target is smaller than the threshold value, the target is an underwater target; otherwise, the target is a surface target.
A system for target depth recognition based on modal intensity matching analysis, the system comprising: the device comprises a radiation noise modal domain energy value generation module, a normalization processing module and a target depth identification module; wherein the content of the first and second substances,
the radiation noise modal domain energy value generation module is used for taking the water surface platform radiation noise carried by the horizontal towed linear array as a guide source and obtaining the modal domain energy value of the water surface platform radiation noise by using a modal domain beam forming method;
the normalization processing module is used for performing normalization processing on the modal domain energy value of the radiation noise of the water surface platform to obtain a modal intensity distribution value and a matrix representation, and taking the matrix representation as a matching reference; the device is also used for carrying out normalization processing on the modal domain energy value of the radiation noise of the target to be judged in depth to obtain the matrix representation of the target to be judged in depth in the horizontal towed linear array modal domain;
the target depth identification module is used for carrying out correlation analysis on matrix representation of a target to be judged in the horizontal towed linear array modal domain and a matching reference to obtain a correlation coefficient; and then, identifying the depth of the target to be judged according to the correlation coefficient to obtain a judgment result.
As an improvement of the above system, a specific implementation process of the radiation noise modal domain energy value generation module is as follows:
according to the depth z of the radiation noise of the water surface platform in the horizontal towed linear array0And calculating the modal domain energy value Y of the radiation noise of the water surface platformsum(f, l) is:
Figure BDA0002562315530000041
wherein rho is density, S (f) is amplitude-frequency response of the target sound source at a frequency point f, phil(z) denotes the mode function at depth z, denotes the complex conjugate, klDenotes the ith horizontal beam, l is 1,2, …, M denotes the total number of modes, r1The distance from the target sound source to the first array element of the horizontal towed linear array is L, and the L is the residual component corresponding to other orders of modes.
As an improvement of the above system, the specific implementation process of the normalization processing module is as follows:
normalizing the modal domain energy value of the radiation noise of the water surface platform according to the influence consistency of the distance and the amplitude on each order modal of the horizontal towed linear array to obtain the l-th order modal intensity distribution value Pl(f,z,z0) And the matrix representation form P (f, z)0)：
Figure BDA0002562315530000042
Figure BDA0002562315530000043
Wherein [ ·]TRepresenting a matrix transposition;
normalizing the modal domain energy value of the radiation noise of the target to be deeply judged to obtain the matrix representation P of the target to be deeply judged in the horizontal drag linear array modal domainS(f,z,zs) Comprises the following steps:
Figure BDA0002562315530000051
wherein z issIs the target depth.
As an improvement of the above system, the specific implementation process of the target depth identification module is as follows:
adding P (f, z)0) As a matching reference, PS(f,z,zs) Carrying out correlation analysis with the matching reference to obtain correlation coefficient R (f, z)s) Comprises the following steps:
Figure BDA0002562315530000052
wherein cov [ P (f, z)0),PS(f,z,zs)]Is P (f, z)s) And PS(f,z,zs) Covariance of d (P (f, z)0) Is P (f, z)0) Variance of d (P)S(f,z,zs) Is P)S(f,z,zs) The variance of (a);
correlating the coefficients R (f, z)s) Maximum peak value of max [ R (f, z)s)]Comparing with a threshold value to obtain the depth z of the target to be judgedsThe judgment result of (1):
when max [ R (f, z)s)]When the target is smaller than the threshold value, the target is an underwater target; otherwise, the target is a surface target.
Compared with the prior art, the invention has the advantages that:
the method overcomes the defects of the depth matching estimation technology, and reduces the influence of the mismatch of marine environment parameters and the mismatch of the acoustic field model on the depth estimation effect.
Drawings
Fig. 1 is a schematic view of a horizontal towed linear array sonar structure according to the present invention;
FIG. 2 is a sonic profile used in a numerical simulation verification experiment;
FIG. 3 is a different depth modal intensity profile;
FIG. 4 is a modal intensity profile at a target depth of 5 m;
FIG. 5 is a modal intensity profile at a target depth of 50 m;
FIG. 6 is a modal intensity profile at a target depth of 100 m;
FIG. 7 is a frequency band of 60-250 Hz, and the result accumulation of the correlation between the target modal intensity at different depths and the modal intensity of radiation noise of a water surface platform;
FIG. 8 shows the peak distribution of the modal intensity of the target with different depths in the frequency band of 60-250 Hz and the modal intensity of the radiation noise of the water surface platform;
FIG. 9 is a frequency band of 60-500 Hz, and the result accumulation of the correlation between the modal intensity of the target at different depths and the modal intensity of the radiation noise of the water surface platform;
FIG. 10 shows the peak distribution of the modal intensity of the target at different depths in the frequency band of 60-500 Hz and the modal intensity of the radiation noise of the water-surface platform.
Detailed Description
Aiming at the problem of target depth identification of a horizontal towed linear array under the condition of incomplete marine environment parameters, the invention provides a target depth identification method based on modal intensity matching analysis according to the relation between each order of modal intensity of the horizontal towed linear array and the target depth. The method comprises the steps that firstly, water surface platform radiation noise carried by a horizontal towed linear array is used as a guide source, modal intensity of each order of the water surface platform radiation noise is obtained by a modal domain beam forming method, and the modal intensity is used as a matching reference; then, performing modal intensity calculation of each order on the pre-decision azimuth target, and performing correlation analysis on the pre-decision azimuth target and a matching reference; and finally, realizing the depth identification of the azimuth target according to the correlation analysis result, and verifying the effectiveness of the azimuth target through numerical simulation.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and examples.
Example 1
The embodiment 1 of the invention provides a target depth identification method based on modal intensity matching analysis. Before describing the method of the present invention in detail, a horizontal line array to which the method of the present invention is applied will be described. Fig. 1 shows a schematic structural diagram of a horizontal towed array sonar, which comprises 6 parts, a display control and signal processor 1, a deck cable 2, a winch 3, a cable guide frame 4, a towing cable 5 and a horizontal towed array 6. The horizontal towing line array 6 is connected with a deck cable 2 on a winch 3 through a towing cable 5, and the towing cable 5 is also arranged on a cable guide frame 4; and the signal received by the horizontal dragging linear array 6 is transmitted to the display control and signal processor 1.
1. Modal domain beamforming
Depth zsAnd the sound pressure normal wave model generated by the single-frequency point target signal at the distance r at the depth z can be expressed as follows:
Figure BDA0002562315530000061
in the formula, the upper symbol indicates the complex sumYoke, kmAnd phim(z) represents the M horizontal wave number and the mode function at the depth z, respectively, M represents the total number of modes contained in the normal wave model, ρ represents the density, and S (f) is the amplitude-frequency response of the target sound source at the frequency point f.
If the target signal is picked up by a horizontal array of N array elements, the sound pressure data picked up can be expressed as:
Figure BDA0002562315530000071
in the formula, rnN is 1,2, …, where N is the distance from the target sound source to each array element of the horizontal drag line array, and x (f, r)n,z,zs) Sound pressure data picked up for n array elements [ ·]TRepresenting a matrix transposition.
When a target sound source accords with far-field conditions relative to a horizontal towed linear array, sound pressure data picked up by each array element of the horizontal towed linear array is approximate to plane waves, and the sound path difference between the target sound source and adjacent array elements of the horizontal towed linear array is equal to dcos theta, wherein d is the distance between the adjacent array elements, and theta is the horizontal azimuth angle of the target sound source relative to the towed linear array. At this time, the formula (2) can be further expressed as:
Figure BDA0002562315530000072
when r is1When the effective aperture of the array is much larger than that of the array, equation (3) can be further expressed as:
Figure BDA0002562315530000073
from the above formula, it can be seen that the horizontal wave numbers corresponding to the normal waves of each order in the sound pressure data picked up by each array element of the horizontal towed linear array are different, and the corresponding phase changes are different, that is, the phase differences corresponding to each order mode of the adjacent array elements are different. At this time, as shown in formula (5), phase difference compensation is performed on array element data of the array by using horizontal wave numbers corresponding to different modes, so that in-phase addition of sound pressure data corresponding to different modes can be realized, a synthesis result of the sound pressure data corresponding to different modes is output, and separation of a target signal in a mode domain is realized.
Figure BDA0002562315530000081
When the phase difference compensation is carried out on the towed line array pickup data by adopting the l-th order mode corresponding to the horizontal wave number and the array element pickup data are superposed, the l-th order mode component corresponding data are superposed in phase, namely 1,2 and …, and the M-order mode component corresponding data are superposed in phase, and the other-order mode component corresponding data are suppressed. The superposition output of each array element data after phase difference compensation is as follows:
Figure BDA0002562315530000082
in the formula, L is a residual component corresponding to other orders of modes, and when the number of array elements included in the trailing line array is large, the superposition output of each array element data after phase difference compensation is mainly determined by the component corresponding to the first order of modes.
In addition, as can be seen from equation (6), at a certain timing of the target signal, the influence of the target distance and the signal amplitude on the superposition data of each array metadata in each order mode is consistent, and after normalization processing is performed on the influence, the mode intensity is mainly affected by kl、φl(z)、φl(zs) Impact, modal strength can be defined as:
Figure BDA0002562315530000083
at this time, according to the modal orders, the formula (8) may be adopted to perform traversal processing on the horizontal wave numbers corresponding to different modal orders, and a modal intensity distribution matrix expression of the target signal may be obtained, that is:
Figure BDA0002562315530000084
2. different depth modal intensity profiles
To further illustrate that there is a certain difference in the intensity distribution of different depth modes, taking the sound velocity profile shown in fig. 2 as an example, fig. 3 and 4 show the distribution of different depth mode functions in the sound velocity profile, and fig. 5 shows the distribution of different depth mode intensities when the horizontal line array is located at 20m depth. As can be seen from fig. 3 and 4, different depth modal functions have a certain difference, and the higher the order, the faster the modal function changes with the depth; the deeper the depth, the more violent the modal function changes with the order; lower order modes are difficult to excite at shallow depths.
According to the results, the modal intensity distribution corresponding to different depth targets is different corresponding to the same horizontal tow linear array, and depth estimation can be realized on the targets according to the characteristics.
Target depth attribute judgment method
3. Target depth matching estimation principle
Under the condition that the working depth of the horizontal towed linear array and the parameter information of the marine environment of the working area are known, namely the depth of the target in the formula (8) is unknown, other parameter information is known. At this time, we can obtain the preset depth z according to the processing frequency band and the normal wave propagation model0Modal strength reference values of the respective orders in the case:
Figure BDA0002562315530000091
scanning the sea surface depth to the seabed depth at a certain depth interval delta z by adopting the formula (9) to obtain modal intensity samples of all reference depth positions, and assuming that a modal intensity matrix obtained by forming the sound pressure received by the matrix through a modal beam is represented as PS(f,z,zs) And carrying out correlation processing on the modal intensity of each reference depth to obtain a correlation coefficient under each reference depth as follows:
Figure BDA0002562315530000092
in the formula, zsReceiving an estimated depth of a target signal for a horizontal towed linear array; cov [ P ]S(f,z,zs),P(f,z,z0)]Is PS(f,z,zs) And P (f, z)0) Covariance of d (P)S(f,z,zs))、d(P(f,z,z0) Respectively is PS(f,z,zs)、P(f,z,z0) The variance of (2), the consistency of the search depth and the estimated depth of the received signal, the maximum peak value of the correlation coefficient, the inconsistency of the search depth and the estimated depth of the received signal, and the maximum peak value of the correlation coefficient is smaller.
Then, by searching for the correlation coefficient R (f, z)0) The maximum peak position of the target signal realizes the depth z of the target signalsAnd (6) estimating.
Figure BDA0002562315530000093
4. Target depth attribute judgment method based on water surface platform modal strength matching analysis
From the above target depth matching estimation process, the dependency of the technology on the environmental parameters and the acoustic field model is very high, and the technology is easily influenced by the mismatch of the environmental parameters and the acoustic field model. In order to overcome the defects of a depth matching estimation technology and reduce the influence of mismatch of marine environment parameters and mismatch of an acoustic field model on a depth estimation effect, the method carries out modal intensity matching analysis on a pre-determined azimuth target by taking radiation noise of a water surface platform as a guide source according to the known characteristics of the depth of the water surface platform, and realizes the depth attribute judgment of the azimuth target, and the specific process is as follows:
firstly, according to the azimuth angle of the radiation noise of the water surface platform in the horizontal towed linear array, the expression form of the radiation noise of the water surface platform in the horizontal towed linear array modal domain is obtained according to the formula (6);
then, according to the azimuth angle of the target to be judged in the horizontal towed linear array, the expression form of the target in the horizontal towed linear array modal domain is obtained according to the form of the formula (6);
and finally, solving a form correlation coefficient of the target to be estimated in depth and radiation noise of the water surface platform in the horizontal towed linear array modal domain according to the form of the formula (10), and solving a maximum peak of the correlation coefficient according to the formula (12) to realize target depth attribute judgment.
Figure BDA0002562315530000101
In the formula, S represents the water surface target, U represents the underwater target, and max [. cndot. ] is the maximum peak value function.
Analysis of experiments
The effects of the method of the present invention are compared below with examples.
In order to further verify that the method can effectively realize the judgment of the water surface/underwater target, the following numerical simulation analysis is carried out. The depth of the water surface platform is 5m, the depth of the horizontal towed linear array is 30m, and the target depth is set at equal intervals of 1m within 1-200 m; FIG. 2 is a sound velocity profile for a numerical simulation verification experiment;
FIG. 3 shows the intensity distribution of different depth modes;
FIG. 4 is a diagram showing a modal intensity profile at a target depth of 5 m;
FIG. 5 shows the modal intensity profile at a target depth of 50 m;
FIG. 6 shows the modal intensity distribution diagram at the target depth of 100 m;
FIG. 7 shows the accumulation of the correlation results of the modal intensity of the target at different depths and the modal intensity of the radiation noise of the water platform in the frequency band of 60-250 Hz;
FIG. 8 shows the peak distribution of the target modal intensity at different depths and the modal intensity of radiation noise of the water-surface platform in the frequency band of 60-250 Hz;
FIG. 9 shows the accumulation of the correlation results of the modal intensity of the target at different depths and the modal intensity of the radiation noise of the water platform in the frequency band of 60-500 Hz;
FIG. 10 shows the peak distribution of the target modal intensity at different depths and the modal intensity of radiation noise at the water surface platform in the frequency band of 60-500 Hz.
According to simulation results, the water surface platform is a water surface target, the horizontal towline array is located at a certain depth, and the correlation peak of the target modal intensity and the radiation noise modal intensity of the water surface platform is large at the position close to the water surface, so that the water surface/underwater target depth attribute judgment can be realized.
Example 2
Based on the foregoing method, embodiment 2 of the present invention provides a target depth identification system based on modal intensity matching analysis, where the system includes: the device comprises a radiation noise modal domain energy value generation module, a normalization processing module and a target depth identification module; wherein the content of the first and second substances,
and the radiation noise modal domain energy value generation module is used for taking the water surface platform radiation noise carried by the horizontal towed linear array as a guide source and obtaining the modal domain energy value of the water surface platform radiation noise by using a modal domain beam forming method.
The specific implementation process of the module is as follows:
according to the depth z of the radiation noise of the water surface platform in the horizontal towed linear array0And calculating the modal domain energy value Y of the radiation noise of the water surface platformsum(f, l) is:
Figure BDA0002562315530000111
wherein rho is density, S (f) is amplitude-frequency response of the target sound source at a frequency point f, phil(z) denotes the mode function at depth z, superscript denotes the complex conjugate, klDenotes the ith horizontal beam, l is 1,2, …, M denotes the total number of modes, r1The distance from the target sound source to the first array element of the horizontal towed linear array is L, and the L is the residual component corresponding to other orders of modes.
The normalization processing module is used for performing normalization processing on the modal domain energy value of the radiation noise of the water surface platform to obtain a modal intensity distribution value and matrix representation, and taking the matrix representation as a matching reference; and the method is also used for carrying out normalization processing on the modal domain energy value of the radiation noise of the target to be judged in depth to obtain the matrix representation of the target to be judged in depth in the horizontal towed linear array modal domain.
The specific implementation process of the module is as follows:
according to the influence consistency of the distance and the amplitude on each order of modes of the horizontal towed linear array, the modal domain of the radiation noise of the water surface platformNormalizing the energy value to obtain the first-order modal intensity distribution value Pl(f,z,z0) And the matrix representation form P (f, z)0)：
Figure BDA0002562315530000112
Figure BDA0002562315530000121
Wherein [ ·]TRepresenting a matrix transposition;
normalizing the modal domain energy value of the radiation noise of the target to be deeply judged to obtain the matrix representation P of the target to be deeply judged in the horizontal drag linear array modal domainS(f,z,zs) Comprises the following steps:
Figure BDA0002562315530000122
wherein z issIs the target depth.
The target depth identification module is used for carrying out correlation analysis on matrix representation of a target to be judged in the horizontal towed linear array modal domain and a matching reference to obtain a correlation coefficient; and then, identifying the depth of the target to be judged according to the correlation coefficient to obtain a judgment result.
The specific implementation process of the module is as follows:
adding P (f, z)0) As a matching reference, PS(f,z,zs) Carrying out correlation analysis with the matching reference to obtain correlation coefficient R (f, z)s) Comprises the following steps:
Figure BDA0002562315530000123
wherein cov [ P (f, z)0),PS(f,z,zs)]Is P (f, z)s) And PS(f,z,zs) Covariance of d (P (f, z)0) Is P (f, z),z0) Variance of d (P)S(f,z,zs) Is P)S(f,z,zs) The variance of (a);
correlating the coefficients R (f, z)s) Maximum peak value of max [ R (f, z)s)]Comparing with a threshold value to obtain the depth z of the target to be judgedsThe judgment result of (1):
when max [ R (f, z)s)]When the target is smaller than the threshold value, the target is an underwater target; otherwise, the target is a surface target.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (6)

1. A method of target depth identification based on modal intensity matching analysis, the method comprising:
the method comprises the steps that water surface platform radiation noise carried by a horizontal towed linear array is used as a guide source, and a modal domain energy value of the water surface platform radiation noise is obtained by a modal domain beam forming method;
normalizing the modal domain energy value of the radiation noise of the water surface platform to obtain a modal intensity distribution value and matrix representation, and taking the matrix representation as a matching reference;
normalizing the modal domain energy value of the radiation noise of the target to be deeply judged to obtain the matrix representation of the target to be deeply judged in the horizontal towed linear array modal domain;
performing correlation analysis on matrix representation of a target to be judged in the depth in a horizontal towed linear array modal domain and a matching reference to obtain a correlation coefficient;
and identifying the depth of the target to be judged according to the correlation coefficient to obtain a judgment result.
2. The method for identifying a target depth based on modal intensity matching analysis according to claim 1, wherein the method specifically comprises:
step 1) according to the depth z of the radiation noise of the water surface platform in the horizontal towed linear array0And calculating the modal domain energy value Y of the radiation noise of the water surface platformsum(f, l) is:
Figure FDA0002562315520000011
wherein rho is density, S (f) is amplitude-frequency response of the target sound source at a frequency point f, phil(z) denotes the mode function at depth z, denotes the complex conjugate, klDenotes the ith horizontal beam, l is 1,2, …, M denotes the total number of modes, r1The distance from a target sound source to a first array element of a horizontal towed linear array is set, and L is a residual component corresponding to other orders of modes;
step 2) normalizing the modal domain energy value of the radiation noise of the water surface platform according to the influence consistency of the distance and the amplitude on each order modal of the horizontal towed linear array to obtain the l order modal intensity distribution value Pl(f,z,z0) And the matrix representation form P (f, z)0)：
Figure FDA0002562315520000012
Figure FDA0002562315520000021
Wherein [ ·]TRepresenting a matrix transposition;
step 3) carrying out normalization processing on the modal domain energy value of the radiation noise of the target to be deeply judged to obtain a matrix representation P of the target to be deeply judged in the horizontal towed linear array modal domainS(f,z,zs) Comprises the following steps:
Figure FDA0002562315520000022
wherein z issIs the target depth;
step 4) adding P (f, z) of step 2)0) As a matching reference, PS(f,z,zs) Carrying out correlation analysis with the matching reference to obtain correlation coefficient R (f, z)s) Comprises the following steps:
Figure FDA0002562315520000023
wherein cov [ P (f, z)0),PS(f,z,zs)]Is P (f, z)s) And PS(f,z,zs) Covariance of d (P (f, z)0) Is P (f, z)0) Variance of d (P)S(f,z,zs) Is P)S(f,z,zs) The variance of (a);
step 5) correlating the relation numbers R (f, z)s) Maximum peak value of max [ R (f, z)s)]Comparing with a threshold value to obtain the depth z of the target to be judgedsThe judgment result of (1):
when max [ R (f, z)s)]When the target is smaller than the threshold value, the target is an underwater target; otherwise, the target is a surface target.
3. A system for target depth recognition based on modal intensity matching analysis, the system comprising: the device comprises a radiation noise modal domain energy value generation module, a normalization processing module and a target depth identification module; wherein the content of the first and second substances,
the radiation noise modal domain energy value generation module is used for taking the water surface platform radiation noise carried by the horizontal towed linear array as a guide source and obtaining the modal domain energy value of the water surface platform radiation noise by using a modal domain beam forming method;
the normalization processing module is used for performing normalization processing on the modal domain energy value of the radiation noise of the water surface platform to obtain a modal intensity distribution value and a matrix representation, and taking the matrix representation as a matching reference; the device is also used for carrying out normalization processing on the modal domain energy value of the radiation noise of the target to be judged in depth to obtain the matrix representation of the target to be judged in depth in the horizontal towed linear array modal domain;
the target depth identification module is used for carrying out correlation analysis on matrix representation of a target to be judged in the horizontal towed linear array modal domain and a matching reference to obtain a correlation coefficient; and then, identifying the depth of the target to be judged according to the correlation coefficient to obtain a judgment result.
4. The system for identifying the target depth based on the modal intensity matching analysis according to claim 3, wherein the modal domain energy value generation module of the radiation noise is implemented by the following steps:
according to the depth z of the radiation noise of the water surface platform in the horizontal towed linear array0And calculating the modal domain energy value Y of the radiation noise of the water surface platformsum(f, l) is:
Figure FDA0002562315520000031
wherein rho is density, S (f) is amplitude-frequency response of the target sound source at a frequency point f, phil(z) denotes the mode function at depth z, denotes the complex conjugate, klDenotes the ith horizontal beam, l is 1,2, …, M denotes the total number of modes, r1The distance from the target sound source to the first array element of the horizontal towed linear array is L, and the L is the residual component corresponding to other orders of modes.
5. The system according to claim 4, wherein the normalization processing module is implemented by:
normalizing the modal domain energy value of the radiation noise of the water surface platform according to the influence consistency of the distance and the amplitude on each order modal of the horizontal towed linear array to obtain the l-th order modal intensity distribution value Pl(f,z,z0) And the matrix representation form P (f, z)0)：
Figure FDA0002562315520000032
Figure FDA0002562315520000041
Wherein [ ·]TRepresenting a matrix transposition;
normalizing the modal domain energy value of the radiation noise of the target to be deeply judged to obtain the matrix representation P of the target to be deeply judged in the horizontal drag linear array modal domainS(f,z,zs) Comprises the following steps:
Figure FDA0002562315520000042
wherein z issIs the target depth.
6. The modal intensity matching analysis-based target depth recognition system of claim 5, wherein the target depth recognition module is implemented by the following processes:
adding P (f, z)0) As a matching reference, PS(f,z,zs) Carrying out correlation analysis with the matching reference to obtain correlation coefficient R (f, z)s) Comprises the following steps:
Figure FDA0002562315520000043
wherein cov [ P (f, z)0),PS(f,z,zs)]Is P (f, z)s) And PS(f,z,zs) Covariance of d (P (f, z)0) Is P (f, z)0) Variance of d (P)S(f,z,zs) Is P)S(f,z,zs) The variance of (a);
correlating the coefficients R (f, z)s) Maximum peak value of max [ R (f, z)s)]Comparing with a threshold value to obtain the depth z of the target to be judgedsThe judgment result of (1):
when max [ R (f, z)s)]When the target is smaller than the threshold value, the target is an underwater target; otherwise, the target is a surface target.
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