CN117075114A - Combined estimation method for active underwater sound target distance and depth of deep sea reliable sound path - Google Patents

Combined estimation method for active underwater sound target distance and depth of deep sea reliable sound path Download PDF

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Publication number
CN117075114A
CN117075114A CN202310452431.0A CN202310452431A CN117075114A CN 117075114 A CN117075114 A CN 117075114A CN 202310452431 A CN202310452431 A CN 202310452431A CN 117075114 A CN117075114 A CN 117075114A
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target
echo
depth
distance
interference structure
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郑广赢
王方勇
郭小玮
朱方伟
邵游
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715 Research Institute Of China Shipbuilding Corp
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715 Research Institute Of China Shipbuilding Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention provides a joint estimation method of a deep sea reliable acoustic path active underwater sound target distance and depth, which comprises the following steps: (1) constructing a measuring sound field; (2) obtaining a relation diagram of a target distance R and echo time delay tau; (3) Extracting echo data of a target, and estimating echo delay tau of the target; (4) estimating a target distance R according to the echo time delay tau; (5) Calculating the arrival pitch angle of the echo signal according to the target distance R(6) Construction of a copy field echo broadband interference Structure B rpl (ω, z); (7) Broadband interference structure B for calculating actual measurement target echo data (ω); (8) Copy field echo broadband interference structure B at assumed target depth z by matching data (omega) and actually measured target echo, constructing an ambiguity surface Amb (z), and performingAnd estimating the target depth. The invention solves the problem of inconvenient estimation of the depth of the active target in the prior art by matching the broadband interference structure of the copy field echo under the assumed target depth with the broadband interference structure of the actually measured target echo.

Description

Combined estimation method for active underwater sound target distance and depth of deep sea reliable sound path
Technical Field
The invention relates to the technical field of underwater sound positioning and recognition, in particular to a combined estimation method for active underwater sound target distance and depth of a deep sea reliable sound path.
Background
Recent studies have shown that vertical arrays deployed at critical depths can be used for 200m detection and localization of shallow acoustic sources based on reliable acoustic paths (direct path combined with sea surface reflection path). Experiments have observed that the background noise spectrum level at the critical depth in deep sea is 5-20dB lower than the background noise spectrum level above the critical depth, and that the propagation loss of propagating acoustic signals via reliable acoustic paths is 10-20dB less than the propagation loss of shallow sea at the same distance. Thus, it is possible to detect and locate objects on the water surface or under water using vertical arrays deployed at critical depths in the deep sea.
In recent years, various reliable acoustic path localization methods have been proposed and studied successively. Mccarr et al and Zurk and Kniffin et al considers interference fringes in the distance-depth plane caused by the superposition of the direct path and the sea surface reflection path (the laude mirror interference phenomenon) and interprets that for a narrowband signal, the energy of the signal is subject to a modulation variation of the sound source depth as a function of distance, which can be used for the estimation of the sound source depth.
For wideband signals, yang et al explain that sound intensity is modulated by sound source depth as a function of frequency and that the periodicity of the spectrum can be used to achieve a depth estimate for the sound source. Duan et al estimate the sound source depth using extended Kalman filtering, using a sound field interference structure, and achieve localization of the sound source using a single hydrophone multi-path structure. For narrowband signals, the sound source depth estimation is mostly based on the depth modulation characteristics of the Lawster's mirror interference. The vertical array data of each frame can generate the change of beam energy along with the arrival angle and time through the beam forming process, and the peak energy arrival angle and the corresponding beam energy can be extracted from the vertical array data. Generalized fourier transforms are used to extract the depth of the sound source, and methods based on beam energy periodicity are also used for estimation of sound source depth, but both methods need to cover one complete interference period.
The prior art solutions described above have the following drawbacks: at present, the research direction of deep sea reliable acoustic path detection mainly focuses on the theory and method of passive target positioning, and a method for estimating the distance and depth of an active target is lacking.
Disclosure of Invention
The invention aims to solve the problems of the prior art and provides a combined estimation method for the distance and the depth of an active underwater sound target of a deep sea reliable sound path, which solves the problem of the prior art that the method for estimating the distance and the depth of the active target is lacking.
The above object of the present invention is achieved by the following technical solutions: a joint estimation method of active underwater sound target distance and depth of a deep sea reliable sound path, the joint estimation method comprising the steps of:
(1) Constructing a measuring sound field;
(2) The method comprises the steps that a ray model sound field simulation program BELLHOP calculates a deep sea reliable sound path arrival structure according to input deep sea environment information, and a relation diagram of a target distance R and echo time delay tau is obtained;
(3) Extracting target echo data, comparing the time delay difference of the target echo and a transmitting signal, and estimating the echo time delay tau of the target;
(4) Comparing the relation diagram of the target distance R and the echo delay tau, and estimating the target distance R according to the echo delay tau;
(5) Calculating the arrival pitch angle of the echo signal according to the target distance R
Wherein z is r Is the receiving depth of the echo data;
(6) Construction of a copy field at a hypothetical target depth zEcho broadband interference structure B rpl (ω,z)：
Where ω is angular frequency, A is a constant amplitude term, S (ω) is the spectrum of the sound source, k is the wave number,representing the arrival pitch angle of the echo signal;
(7) Taking target echo dataBroadband interference structure B with amplitude variation within processing bandwidth after Fourier transformation as actual measurement target echo data (ω)：
Where ω is the angular frequency, τ represents the echo delay of the target,representing the arrival pitch angle of the echo signal;
(8) Copy field echo broadband interference structure B at assumed target depth z by matching data (ω) constructing an ambiguity plane Amb (z) with a broadband interference structure of the measured target echo, and estimating the target depth:
wherein omega is 1 Represents the upper limit of angular frequency, ω 2 Representing the lower limit of the angular frequency.
The invention is further provided with: the position of the peak value of the ambiguity surface is the estimated target depth.
In summary, the beneficial technical effects of the invention are as follows: the invention provides a combined estimation method of a deep sea reliable acoustic path active underwater sound target distance and depth, which aims at the difficult problem of high-precision positioning of the reliable acoustic path active target in a deep sea environment, and takes a vertical array distributed under a critical depth into consideration, wherein one significant feature of the reliable acoustic path propagation is one-to-one correspondence of the target distance and the active echo time delay.
Drawings
FIG. 1 is a schematic diagram of a measuring sound field in the present invention;
FIG. 2 is a flow chart of a method for jointly estimating distance and depth of an active underwater sound target of a deep sea reliable sound path in the present invention;
FIG. 3 is a cross-sectional view of a typical Munk sonic velocity in the present invention;
FIG. 4 is a graph showing the loss profile of sound propagation in the sound path at a sound source depth of 50m in the present invention;
FIG. 5 is a graph of active target echo delay versus target distance for different target depths in the present invention;
FIG. 6 is a graph of echo signal arrival pitch angle versus target distance in the present invention;
FIG. 7 is a diagram showing the variation of broadband interference structure corresponding to different target depths when the target distance is 5 km;
FIG. 8 is a graph of interference structure extraction versus target depth estimation for target depths of 10m and 50m in an environment with a signal to noise ratio of 5dB in the present invention.
Detailed Description
The invention will be further described with reference to the drawings and detailed description in order to make the technical means, the creation characteristics, the achievement of the objects and the functions of the invention more clear and easy to understand.
As shown in fig. 1, the invention provides a joint estimation method of active underwater sound target distance and depth of a deep sea reliable sound path, which comprises the following steps:
(1) And constructing a measuring sound field.
In the step (1), fig. 1 is a schematic diagram of a measuring sound field in the present invention, where the measuring sound field includes a target and a transceiver transducer, the transceiver transducer can work as a transmitting sound source and a receiving hydrophone in water, when the transceiver transducer works as the transmitting sound source, the transceiver transducer can send out an acoustic signal, and when the transceiver transducer works as the receiving hydrophone, the transceiver transducer can receive the acoustic signal of the target.
(2) And calculating a deep sea reliable sound path arrival structure by using the BELLHOP according to the input deep sea environment information to obtain a relation diagram of the target distance R and the echo time delay tau.
In the step (2), the radiation model sound field simulation program belhop is a model for predicting sound pressure in a marine environment according to radiation tracking, and is based on geometric and physical propagation rules, so that various types of radiation including gaussian beams, hat beams and the like can be realized. BELLHOP can produce a variety of useful output information including transmission loss, eigen-acoustic line, time series of arrival and reception, etc. The experimental data of the BELLHOP model in the frequency range of 600Hz-30kHz is consistent with the theoretical model, and the data and the working performance of the underwater acoustic channel can be effectively predicted by using the BELLHOP model to simulate the underwater acoustic channel.
In the step (2), the deep sea environment comprises deep sea hydrologic information and seabed elevation information.
(3) And extracting target echo data, comparing the time delay difference of the target echo and the transmitting signal, and estimating the echo time delay tau of the target.
In the step (3), the target echo data is acquired by deep sea active sonar.
(4) And (3) comparing the relation diagram of the target distance R and the echo delay tau, and estimating the target distance R according to the echo delay tau.
(5) Calculating the arrival pitch angle of the echo signal according to the target distance R
Wherein z is r Is the reception depth of the echo data.
(6) Construction of a copy field echo broadband interference Structure B at an assumed target depth z rpl (ω,z)：
Where ω is angular frequency, A is a constant amplitude term, S (ω) is the spectrum of the sound source, k is the wave number,indicating the arrival pitch angle of the echo signal.
(7) Taking target echo dataBroadband interference structure B with amplitude variation within processing bandwidth after Fourier transformation as actual measurement target echo data (ω)：
Where ω is the angular frequency, τ represents the echo delay of the target,indicating the arrival pitch angle of the echo signal.
(8) Copy field echo broadband interference structure B at assumed target depth z by matching data And (omega) constructing an ambiguity surface Amb (z) by a broadband interference structure of the actually measured target echo, and estimating the target depth.
Wherein omega is 1 Represents the upper limit of angular frequency, ω 2 Representing the lower limit of the angular frequency.
In the step (8), the position where the peak value of the ambiguity surface appears is the estimated target depth.
The invention is realized in the following way:
as shown in fig. 3 and 4, in the range of 25km, the propagation loss of the near-sea-bottom reliable acoustic path is smaller than that of the near-sea-surface reliable acoustic path, so that the advantage that the propagation loss of the near-sea-bottom reliable acoustic path is smaller than that of the near-sea surface can be utilized, and the near-sea-surface sound source target can be detected by using the large-aperture vertical array distributed on the near-sea bottom.
As shown in fig. 5, according to the change curve of the echo time delay of the active target with the target distance under the condition of different target depths, it can be seen that the echo time delay of the active target increases monotonically with the increase of the target distance, but the echo time delay of the active target is not in an absolute linear relationship with the target distance due to the acoustic line bending caused by the deep sea acoustic velocity profile. In addition, four curves corresponding to the target depths of 10m, 100m, 300m and 500m can be observed, and the corresponding relation between the echo time delay of the active target and the target distance is not changed greatly for the shallow surface layer target with the depth of 500m or more under the condition of different target depths. Therefore, the target distance can be estimated based on the extracted active target echo time delay according to the corresponding relation between the active target echo time delay and the target distance.
As shown in fig. 6, according to the change of the reliable acoustic path active target echo arrival pitch angle with the target distance in the typical Munk hydrologic environment, it can be seen that the pitch angle of the echo signal corresponds to the target distance one by one. Therefore, on the basis of the target distance estimation, the echo signal arrival pitch angle is estimated by using the correspondence between the pitch angle of the echo signal and the target distance.
As shown in fig. 7, according to the broadband interference structure change corresponding to different target depths when the target distance is 5km, it can be seen that the signal amplitude exhibits significant oscillation fluctuation with frequency, and the larger the target depth, the faster the oscillation fluctuation and the smaller the interference period. The estimation of the target depth can thus be achieved based on feature matching of the broadband interference structure.
As shown in fig. 8, under the condition that the signal-to-noise ratio is 5dB, the interference structure extracts the target depth estimation result under the condition that the target depth is 10m and 50m, it can be seen that the interference structure becomes disordered due to the influence of noise, but the depth of the target can still be accurately estimated through the matching broadband interference structure processing, and under the condition that the signal-to-noise ratio is 5dB, the matching coefficient at the peak value is about 0.3 higher than the matching coefficient at the background.
The invention provides a combined estimation method of a deep sea reliable acoustic path active underwater sound target distance and depth, which aims at the difficult problem of high-precision positioning of the reliable acoustic path active target in a deep sea environment, and takes a vertical array distributed under a critical depth into consideration, wherein one significant feature of the reliable acoustic path propagation is one-to-one correspondence of the target distance and the active echo time delay.
The invention can support the design and development of the novel active detection equipment in deep sea and has a certain innovation significance.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.

Claims (2)

1. A method for jointly estimating the distance and depth of an active underwater sound target of a deep sea reliable sound path, which is characterized by comprising the following steps:
(1) Constructing a measuring sound field;
(2) The method comprises the steps that a ray model sound field simulation program BELLHOP calculates a deep sea reliable sound path arrival structure according to input deep sea environment information, and a relation diagram of a target distance R and echo time delay tau is obtained;
(3) Extracting target echo data, comparing the time delay difference of the target echo and a transmitting signal, and estimating the echo time delay tau of the target;
(4) Comparing the relation diagram of the target distance R and the echo delay tau, and estimating the target distance R according to the echo delay tau;
(5) Calculating the arrival pitch angle of the echo signal according to the target distance R
Wherein z is r Is the receiving depth of the echo data;
(6) Construction of a copy field echo broadband interference Structure B at an assumed target depth z rpl (ω,z)：
Where ω is angular frequency, A is a constant amplitude term, S (ω) is the spectrum of the sound source, k is the wave number,representing the arrival pitch angle of the echo signal;
(7) Taking target echo dataBroadband interference structure B with amplitude variation within processing bandwidth after Fourier transformation as actual measurement target echo data (ω)：
Where ω is the angular frequency, τ represents the echo delay of the target,representing the arrival pitch angle of the echo signal;
(8) Copy field echo broadband interference structure B at assumed target depth z by matching data (ω) constructing an ambiguity plane Amb (z) with a broadband interference structure of the measured target echo, and estimating the target depth:
wherein omega is 1 Represents the upper limit of angular frequency, ω 2 Representing the lower limit of the angular frequency.
2. The method for jointly estimating the distance and the depth of the active underwater sound target of the deep sea reliable sound path according to claim 1, wherein the method comprises the following steps of: the position of the peak value of the ambiguity surface is the estimated target depth.
CN202310452431.0A 2023-04-21 2023-04-21 Combined estimation method for active underwater sound target distance and depth of deep sea reliable sound path Pending CN117075114A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117590369A (en) * 2024-01-18 2024-02-23 汉江国家实验室 Deep sea target depth estimation method, device, equipment and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117590369A (en) * 2024-01-18 2024-02-23 汉江国家实验室 Deep sea target depth estimation method, device, equipment and storage medium
CN117590369B (en) * 2024-01-18 2024-04-16 汉江国家实验室 Deep sea target depth estimation method, device, equipment and storage medium

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