CN105044725A - Underwater target hidden distance measurement method and device by utilizing sound emitted from sperm whale - Google Patents
Underwater target hidden distance measurement method and device by utilizing sound emitted from sperm whale Download PDFInfo
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- CN105044725A CN105044725A CN201510448440.8A CN201510448440A CN105044725A CN 105044725 A CN105044725 A CN 105044725A CN 201510448440 A CN201510448440 A CN 201510448440A CN 105044725 A CN105044725 A CN 105044725A
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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
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention belongs to the field of underwater acoustic detection and provides an underwater target hidden distance measurement method and device by utilizing the sound emitted from a sperm whale, so that the defects that a conventional distance measurement signal is easy to be detected, indentified and positioned are overcome, and precise hidden measurement of distance of underwater stationary or moving targets can be realized. The technical scheme adopted in the invention is characterized in that the underwater target hidden distance measurement device by utilizing the sound emitted from the sperm whale is formed by a control and processing center, a signal generation module, a power amplifier, a sounding sensor, a hydrophone, a signal conditioning module and a data preprocessor. The method and device are mainly applied to underwater acoustic detection.
Description
Technical field
The invention belongs to underwateracoustic field of detecting, particularly about the hidden distance-finding method of the submarine target utilizing sperm whale to call and device.
Background technology
Under water in military confrontation, submarine target, the detecting and locating as frogman, submarine, underwater glider, underwater robot, under water optimal in structure etc. is most important; And range finding is the important step realizing submarine target location.Tradition submarine target initiative range measurement method generally adopts single-frequency rect.p. or chirp as distance measuring signal, but these pulse signals have relatively simple, comparatively significantly time domain, frequency domain and time-frequency domain feature, envelope as single-frequency rect.p. and chirp all has the feature of rectangle, the frequency of single-frequency rect.p. has the characteristic of single-frequency, the frequency of chirp has the rule etc. of linear change, so, these signals are easy to be intercepted and captured by the reconnaissance system of enemy, identify and location, thus the viability of distance-measuring equipment is constituted a serious threat.
For the problems referred to above, what the original cry that the present invention utilizes sperm whale in ocean to send was found range as submarine target transmits, to improve camouflage and the disguise of distance-measuring equipment.
Illustrate: the sperm whale in ocean is social animal (see document [1]), they ceaselessly can send pulse signal in the process of activity, the envelope random variation of these pulse signals, there is no fixing rule, envelope internal modulation signal is complicated broadband signal, signal non-stationary, time-frequency characteristic is complicated; Therefore, have with the ranging burst signal of routine and comparatively significantly distinguish, be not easily identified as initiative range measurement pulse signal.
[1]HalWhiteheadandLindaWeilgart,Patternsofvisuallyobservablebehaviourandvocalizationsingroupsoffemalespermwhales[J],Behaviour,vol.118,no.3/4,pp.275-296,Sep.,1991.
Summary of the invention
For overcoming the deficiency of technology, the hidden distance-finding method of a kind of submarine target utilizing sperm whale to call and device are provided, the shortcoming that conventional distance measuring signal is easy to be detected, identify and locate can not only be overcome, the accurate hidden measurement of static or moving target distance under water can also be realized.For this reason, the technical scheme that the present invention takes is, the hidden distance measuring equipment of the submarine target utilizing sperm whale to call, by controlling and processing enter, and signal generator module, power amplifier, voicing sensor, nautical receiving set, Signal-regulated kinase and data pre-processor composition;
Control with processing enter according to the range finding requirement of client to submarine target, hit the target decomposition and optimum configurations, and from sperm whale cry database, select the sperm whale cry set meeting range finding and require; When starting to find range to target, start the timer of its inside;
Signal generator module is made up of combined sequence device and sequence buffer, signal generator module reception is called to the sperm whale controlling to select with processing enter and is gathered, and by combined sequence device, combined sequence is carried out to the sperm whale cry in this set, produce sperm whale cry sequence string, and these cry sequence strings are buffered in sequence buffer; These cry sequence strings are sent to power amplifier and carry out power amplification process, and then are transferred into emission sensor;
Further, the sperm whale cry of being launched by voicing sensor, after underwater acoustic channel transmission, projects the surface of submarine target; Submarine target reflects by the range finding acoustical signal projected; Transmit through underwater acoustic channel transmission after received by nautical receiving set; The signal received is sent to Signal-regulated kinase by nautical receiving set, after Signal-regulated kinase carries out denoising, amplification, filtering, analog-to-digital conversion process to the received signal, then the sound data of generation is sent to data pre-processor;
Data pre-processor carries out denoising, filtering and Reverberation Rejection process to the sound data received, and improves the signal to noise ratio (S/N ratio) of data; Control to receive data from data pre-processor with processing enter, and matched filtering process carried out to data, then, based on matched filtering result, ranging parameters is analyzed, computing and showing in real time.
The hidden distance-finding method of the submarine target utilizing sperm whale to call, comprises the steps:
According to the range finding requirement of client to submarine target, hit the target decomposition and optimum configurations, and from sperm whale cry database, select the sperm whale cry set meeting range finding and require; Combined sequence is carried out to the sperm whale cry in this set, produces sperm whale cry sequence string; These cry sequence strings are sent to power amplifier and carry out power amplification process, and then are transferred into emission sensor; When starting to find range to target, start timer;
The signal received by nautical receiving set carries out denoising, amplification, filtering, analog-to-digital conversion process, then carries out further denoising, filtering and Reverberation Rejection process to sound data, improves the signal to noise ratio (S/N ratio) of data; Based on matched filtering result, ranging parameters is analyzed, computing and showing in real time.
The sperm whale cry set meeting range finding and require is selected: for the sperm whale cry method for optimizing of finding range from sperm whale cry database, take ambiguity function as criterion, with the sperm whale cry range resolution of monopulse and doppler tolerance for condition, filter out the cry monopulse set that can realize submarine target distance parameter and accurately measure; Little cross-correlation coefficient and excellent autocorrelation performance should be had between the monopulse in monopulse set.
Reverberation Rejection process specifically, according to reverberation autoregression (Autoregressive, the data received are carried out segmentation by AR) model, by estimating parameter and the exponent number of AR model to non-Gaussian noise insensitive Third-order cumulants higher-order spectrum method of estimation; Utilize and construct prewhitening filter closest to the estimated AR model parameter of data the last period of this segment data and exponent number, and filtering process is carried out to this segment data, reverberation filtering is become white noise.
Values match filtering process concrete steps: utilize (1) formula, values match filtering process is completed to the data received;
Wherein, k is a proportionality constant, S
l,if () represents the frequency spectrum function of receiving end i-th local reference signal,
represent the conjugation of the Received signal strength frequency spectrum function corresponding with i-th local reference signal, s
o,it () represents the matched filtering output signal of i-th pulse signal, f representation signal frequency, t
irepresent the time quantum of i-th signal when carrying out integral operation, T represents the time span of integration, and i represents i-th local reference signal; Then, based on matched filtering result, ranging parameters is analyzed, computing and showing in real time.
Compared with the prior art, technical characterstic of the present invention and effect:
(1) utilize sperm whale to call to pretend submarine target distance-measuring equipment, improving the disguise of distance-measuring equipment from bionic angle, providing a kind of new approaches and scheme for realizing the hidden of subsea equipment;
(2) from a large amount of sperm whale cry, filter out the sperm whale cry monopulse that range resolution is high, doppler tolerance is large, the accurate measurement for submarine target distance parameter provides the carrier that transmits of superperformance;
(3) realized the Reverberation Rejection of echoed signal by autoregression AR model and Third-order cumulants higher-order spectrum method of estimation, improve the signal to noise ratio (S/N ratio) of Received signal strength;
(4) matched filtering method that tradition has fixing mathematic(al) representation signal waveform (such as single-frequency rect.p. or chirp waveform) is different from, the present invention is directed to the feature of sperm whale cry, adopt the method for numerical evaluation to realize matched filtering process, improve the distance accuracy of equipment;
(5) frequency of sperm whale cry comparatively other frequency of shouting a shout of animal (as dolphin) is lower under water, so sperm whale cry can transmit farther, utilize this feature, realize the telemeasurement of submarine target.
Accompanying drawing explanation
Fig. 1 illustrates submarine target distance-measuring equipment overall plan block diagram of the present invention.
In Fig. 1: 1 is submarine target distance-measuring equipment overall plan block diagram; 2 for controlling and processing enter; 3 is signal generator module; 4 is power amplifier; 5 is voicing sensor; 6 for launching subsystem; 7 is submarine target; 8 is nautical receiving set; 9 is Signal-regulated kinase; 10 is data pre-processor; 11 is receiving subsystem.
Fig. 2: signal generator module structural representation.
Embodiment
The present invention utilizes sperm whale to call signal as distance measuring signal, and the cry signal making it be mistaken as into real sperm whale to send, plays the effect of camouflage.
The object of the invention is:
(1) utilize sperm whale to call to pretend submarine target distance-measuring equipment, improve its disguise;
(2) from a large amount of sperm whale cry, filter out the sperm whale cry monopulse that range resolution is high, doppler tolerance is large, the accurate measurement for submarine target distance parameter provides the carrier that transmits of superperformance.
(3) for the feature of sperm whale cry, adopt values match filter processing method, improve the precision of range finding;
(4) frequency of sperm whale cry comparatively other frequency of shouting a shout of animal (as dolphin) is lower under water, so sperm whale cry can transmit farther, be a kind of good camouflage acoustical signal carrier realizing finding range at a distance.
The technical scheme that the present invention takes is, the hidden distance-finding method of the submarine target utilizing sperm whale to call and device, comprising:
The first step: submarine target distance-measuring equipment overall plan.
Submarine target distance-measuring equipment overall plan block diagram 1 primarily of control with processing enter 2, signal generator module 3, power amplifier 4, voicing sensor 5, nautical receiving set 8, Signal-regulated kinase 9 and data processing module 10 form; Launch subsystem 6 by signal generator module 3, power amplifier 4 and voicing sensor 5 form; Receiving subsystem 11 is by nautical receiving set 8, and Signal-regulated kinase 9 and data pre-processor 10 form; 7 representatives static or moving target under water;
Further, control, with processing enter 2, there is following function: (1) is according to the range finding requirement of client to submarine target, hit the target decomposition and optimum configurations, and from sperm whale cry database, select the sperm whale cry set meeting range finding and require; (2) when starting to find range to target, the timer of its inside is started; (3) matched filtering process is carried out to the sound data received, ranging parameters is analyzed, computing and showing in real time;
Signal generator module 3 is made up of combined sequence device and sequence buffer, as shown in Figure 2; Signal generator module 3 reception is called to the sperm whale controlling to select with processing enter 2 and is gathered, and by combined sequence device, combined sequence is carried out to the sperm whale cry in this set, produce sperm whale cry sequence string, and these cry sequence strings are buffered in sequence buffer; These cry sequence strings are sent to power amplifier 4 and carry out power amplification process, and then are transferred into emission sensor 5;
Further, the sperm whale cry of being launched by voicing sensor 5, after underwater acoustic channel transmission, projects the surface of submarine target 7; Submarine target 7 reflects by the range finding acoustical signal projected; Transmit through underwater acoustic channel transmission after received by nautical receiving set 8; The signal received is sent to Signal-regulated kinase 9 by nautical receiving set 8, after Signal-regulated kinase 9 carries out denoising, amplification, filtering, analog-to-digital conversion process to the received signal, then the sound data of generation is sent to data pre-processor 10;
Further, data pre-processor 10 carries out denoising, filtering and Reverberation Rejection process to the sound data received, and improves the signal to noise ratio (S/N ratio) of data; Control to receive data from data pre-processor 10 with processing enter 2, and matched filtering process carried out to data, then, based on matched filtering result, ranging parameters is analyzed, computing and showing in real time;
Second step: for the sperm whale cry method for optimizing of finding range.
Take ambiguity function as criterion, with the sperm whale cry range resolution of monopulse and doppler tolerance for condition, filter out the cry monopulse set A that can realize submarine target distance parameter and accurately measure; Attention: little cross-correlation coefficient and excellent autocorrelation performance should be had between the monopulse in set A.
3rd step: carry out Reverberation Rejection process to the received signal.
The Reverberation Rejection process of settling signal in data preparation processor 10;
According to reverberation autoregression (Autoregressive, AR) model, the data received are carried out segmentation, by estimating parameter and the exponent number of AR model to non-Gaussian noise insensitive Third-order cumulants higher-order spectrum method of estimation; Owing to can not estimate the power spectrum density of pure reverberation when comprising signal, prewhitening filter is constructed closest to the estimated AR model parameter of data the last period of this segment data and exponent number so utilize, and filtering process is carried out to this segment data, reverberation filtering is become white noise.
4th step: values match filtering method.
(1) formula of utilization, completes values match filtering process to the data received in control with processing enter 2;
Wherein, k is a proportionality constant, S
l,if () represents the frequency spectrum function of receiving end i-th local reference signal,
represent the conjugation of the Received signal strength frequency spectrum function corresponding with i-th local reference signal, s
o,it () represents the matched filtering output signal of i-th pulse signal, f representation signal frequency, t
irepresent the time quantum of i-th signal when carrying out integral operation, T represents the time span of integration, and i represents i-th local reference signal; Then, based on matched filtering result, ranging parameters is analyzed, computing and showing in real time.
Then, based on matched filtering result, ranging parameters is analyzed, computing and showing in real time;
The advantage of the hidden distance-finding method of the submarine target utilizing sperm whale to call of the present invention and device is: (1) utilizes sperm whale to call and pretends submarine target distance-measuring equipment, improves its disguise from bionic angle; (2) from a large amount of sperm whale cry, filter out the sperm whale cry monopulse that range resolution is high, doppler tolerance is large, the accurate measurement for submarine target distance parameter provides the carrier that transmits of superperformance.(3) realized the Reverberation Rejection of echoed signal by autoregression AR model and Third-order cumulants higher-order spectrum method of estimation, improve the signal to noise ratio (S/N ratio) of Received signal strength; (4) for the feature of sperm whale cry, adopt values match filter processing method, improve the precision of range finding; (5) frequency of sperm whale cry comparatively other frequency of shouting a shout of animal (as dolphin) is lower under water, so sperm whale cry can transmit farther, be a kind of good camouflage acoustical signal carrier realizing finding range at a distance.
The present invention is further described below in conjunction with the drawings and specific embodiments.
The invention provides the hidden distance-finding method of a kind of submarine target utilizing sperm whale to call and device, it can not only overcome the shortcoming that conventional distance measuring signal is easy to be detected, identify and locate, and can also realize the accurate hidden measurement of static or moving target distance under water.
Tool of the present invention has the following advantages: (1) utilizes sperm whale to call and pretends submarine target distance-measuring equipment, improves its disguise; (2) from a large amount of sperm whale cry, filter out the sperm whale cry monopulse that range resolution is high, doppler tolerance is large, the accurate measurement for submarine target distance parameter provides the carrier that transmits of superperformance.(3) for the feature of sperm whale cry, adopt values match filter processing method, improve the precision of range finding; (4) frequency of sperm whale cry comparatively other frequency of shouting a shout of animal (as dolphin) is lower under water, so sperm whale cry can transmit farther, be a kind of good camouflage acoustical signal carrier realizing finding range at a distance.
The present invention is achieved in that
The first step: submarine target distance-measuring equipment overall plan.
Submarine target distance-measuring equipment overall plan block diagram 1 primarily of control with processing enter 2, signal generator module 3, power amplifier 4, voicing sensor 5, nautical receiving set 8, Signal-regulated kinase 9 and data processing module 10 form; Launch subsystem 6 by signal generator module 3, power amplifier 4 and voicing sensor 5 form; Receiving subsystem 11 is by nautical receiving set 8, and Signal-regulated kinase 9 and data pre-processor 10 form; 7 representatives static or moving target under water;
Further, according to the range finding requirement of client to submarine target, controlling hits the target with processing enter 2 decomposes and optimum configurations, and from sperm whale cry database, select the sperm whale cry set meeting range finding and require, and when starting to find range to target, start the timer of its inside;
Further, signal generator module 3 is made up of combined sequence device and sequence buffer, as shown in Figure 2; Signal generator module 3 reception is called to the sperm whale controlling to select with processing enter 2 and is gathered, and by combined sequence device, combined sequence is carried out to the sperm whale cry in this set, produce sperm whale cry sequence string, and these cry sequence strings are buffered in sequence buffer; These cry sequence strings are sent to power amplifier 4 and carry out power amplification process, and then are transferred into emission sensor 5;
Further, the sperm whale cry of being launched by voicing sensor 5, after underwater acoustic channel transmission, projects the surface of submarine target 7; Submarine target 7 reflects by the range finding acoustical signal projected; Transmit through underwater acoustic channel transmission after received by nautical receiving set 8; The signal received is sent to Signal-regulated kinase 9 by nautical receiving set 8, after Signal-regulated kinase 9 carries out denoising, amplification, filtering, analog-to-digital conversion process to the received signal, then the sound data of generation is sent to data pre-processor 10; Data pre-processor 10 carries out denoising, filtering and Reverberation Rejection process to the sound data received, and improves the signal to noise ratio (S/N ratio) of data; Control to receive data from data pre-processor 10 with processing enter 2, and matched filtering process carried out to data, then, based on matched filtering result, ranging parameters is analyzed, computing and showing in real time;
Second step: for the sperm whale cry method for optimizing of finding range.
Take ambiguity function as criterion, with the sperm whale cry range resolution of monopulse and doppler tolerance for condition, filter out the cry monopulse set A that can realize submarine target distance parameter and accurately measure; Attention: little cross-correlation coefficient and excellent autocorrelation performance should be had between the monopulse in set A.
3rd step: carry out Reverberation Rejection process to the received signal.
The Reverberation Rejection process of settling signal in data preparation processor 10; According to reverberation autoregression (Autoregressive, AR) model, the data received are carried out segmentation, by estimating parameter and the exponent number of AR model to non-Gaussian noise insensitive Third-order cumulants higher-order spectrum method of estimation; Owing to can not estimate the power spectrum density of pure reverberation when comprising signal, prewhitening filter is constructed closest to the estimated AR model parameter of data the last period of this segment data and exponent number so utilize, and filtering process is carried out to this segment data, reverberation filtering is become white noise.
4th step: values match filtering method.
Utilize formula
in control with processing enter 2, complete values match filtering process to the data received, wherein, k is a proportionality constant, S
l,if () represents the frequency spectrum function of receiving end i-th local reference signal,
represent the conjugation of the Received signal strength frequency spectrum function corresponding with i-th local reference signal, s
o,it () represents the matched filtering output signal of i-th pulse signal;
Then, based on matched filtering result, ranging parameters is analyzed, computing and showing in real time.
Claims (5)
1. the hidden distance measuring equipment of the submarine target utilizing sperm whale to call, is characterized in that, by controlling and processing enter, and signal generator module, power amplifier, voicing sensor, nautical receiving set, Signal-regulated kinase and data pre-processor composition;
Control with processing enter according to the range finding requirement of client to submarine target, hit the target decomposition and optimum configurations, and from sperm whale cry database, select the sperm whale cry set meeting range finding and require; When starting to find range to target, start the timer of its inside;
Signal generator module is made up of combined sequence device and sequence buffer, signal generator module reception is called to the sperm whale controlling to select with processing enter and is gathered, and by combined sequence device, combined sequence is carried out to the sperm whale cry in this set, produce sperm whale cry sequence string, and these cry sequence strings are buffered in sequence buffer; These cry sequence strings are sent to power amplifier and carry out power amplification process, and then are transferred into emission sensor;
Further, the sperm whale cry of being launched by voicing sensor, after underwater acoustic channel transmission, projects the surface of submarine target; Submarine target reflects by the range finding acoustical signal projected; Transmit through underwater acoustic channel transmission after received by nautical receiving set; The signal received is sent to Signal-regulated kinase by nautical receiving set, after Signal-regulated kinase carries out denoising, amplification, filtering, analog-to-digital conversion process to the received signal, then the sound data of generation is sent to data pre-processor;
Data pre-processor carries out denoising, filtering and Reverberation Rejection process to the sound data received, and improves the signal to noise ratio (S/N ratio) of data; Control to receive data from data pre-processor with processing enter, and matched filtering process carried out to data, then, based on matched filtering result, ranging parameters is analyzed, computing and showing in real time.
2. the hidden distance-finding method of the submarine target utilizing sperm whale to call, it is characterized in that, comprise the steps: according to the range finding requirement of client to submarine target, hit the target decomposition and optimum configurations, and from sperm whale cry database, select the sperm whale cry set meeting range finding and require; Combined sequence is carried out to the sperm whale cry in this set, produces sperm whale cry sequence string; These cry sequence strings are sent to power amplifier and carry out power amplification process, and then are transferred into emission sensor; When starting to find range to target, start timer;
The signal received by nautical receiving set carries out denoising, amplification, filtering, analog-to-digital conversion process, then carries out further denoising, filtering and Reverberation Rejection process to sound data, improves the signal to noise ratio (S/N ratio) of data; Based on matched filtering result, ranging parameters is analyzed, computing and showing in real time.
3. the hidden distance-finding method of the submarine target utilizing sperm whale to call as claimed in claim 2, it is characterized in that, the sperm whale cry set meeting range finding and require is selected: for the sperm whale cry method for optimizing of finding range from sperm whale cry database, take ambiguity function as criterion, with the sperm whale cry range resolution of monopulse and doppler tolerance for condition, filter out the cry monopulse set that can realize submarine target distance parameter and accurately measure; Little cross-correlation coefficient and excellent autocorrelation performance should be had between the monopulse in monopulse set.
4. the hidden distance-finding method of the submarine target utilizing sperm whale to call as claimed in claim 2, it is characterized in that, Reverberation Rejection process specifically, according to reverberation autoregression (Autoregressive, AR) model, the data received are carried out segmentation, by estimating parameter and the exponent number of AR model to non-Gaussian noise insensitive Third-order cumulants higher-order spectrum method of estimation; Utilize and construct prewhitening filter closest to the estimated AR model parameter of data the last period of this segment data and exponent number, and filtering process is carried out to this segment data, reverberation filtering is become white noise.
5. the hidden distance-finding method of the submarine target utilizing sperm whale to call as claimed in claim 2, is characterized in that, values match filtering process concrete steps: utilize (1) formula, complete values match filtering process to the data received;
Wherein, k is a proportionality constant, S
l,if () represents the frequency spectrum function of receiving end i-th local reference signal,
represent the conjugation of the Received signal strength frequency spectrum function corresponding with i-th local reference signal, s
o,it () represents the matched filtering output signal of i-th pulse signal, f representation signal frequency, t
irepresent the time quantum of i-th signal when carrying out integral operation, T represents the time span of integration, and i represents i-th local reference signal; Then, based on matched filtering result, ranging parameters is analyzed, computing and showing in real time.
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| CN108279418A (en) * | 2018-01-09 | 2018-07-13 | 天津大学 | Utilize the combined detection and communication device and method of whale sound |
| CN108279418B (en) * | 2018-01-09 | 2023-08-08 | 天津大学 | Combined detection and communication device and method using whale sound |
| CN112182868A (en) * | 2020-09-21 | 2021-01-05 | 天津大学 | Shallow sea active sonar detection method based on whale/dolphin click sound calling |
| CN112182868B (en) * | 2020-09-21 | 2023-03-24 | 天津大学 | Shallow sea active sonar detection method based on whale/dolphin click sound calling |
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