CN107085216A - A kind of deep-sea underwater sound passive ranging depth detecting method based on single hydrophone - Google Patents
A kind of deep-sea underwater sound passive ranging depth detecting method based on single hydrophone Download PDFInfo
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- CN107085216A CN107085216A CN201710260413.7A CN201710260413A CN107085216A CN 107085216 A CN107085216 A CN 107085216A CN 201710260413 A CN201710260413 A CN 201710260413A CN 107085216 A CN107085216 A CN 107085216A
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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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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A kind of deep-sea underwater sound passive ranging depth detecting method based on single hydrophone, is related to radiocoustic position finding.Lay submarine target noise record equipment to be observed, depth where record receiving hydrophone, measurement lays the Hai Shen and Sound speed profile in marine site；The time-domain signal for choosing single hydrophone in noise record equipment does time frequency analysis；According to the Sound speed profile of collection, Hai Shen and reception depth information, pass through change curve of second of the frequency domain interference periods under the simulation calculation reception depth with propagation distance, second of frequency domain interference periods of actual acquisition are matched with the change curve, sound source distance is obtained；According to the Sound speed profile of collection, Hai Shen, depth information and the sound source range information of estimation are received, the first frequency domain interference periods of simulation calculation are matched with the change curve of sound source depth with the first frequency domain interference periods of actual acquisition, obtain sound source depth.
Description
Technical field
The present invention relates to radiocoustic position finding, more particularly, to a kind of deep-sea underwater sound passive ranging depth measurement side based on single hydrophone
Method.
Background technology
Serious decay is subjected to when being propagated in the seawater due to radio wave and light wave, it is impossible to which effectively transmission is believed
Breath, the submarine worked in below the water surface can not obtain the information of submarine target, it is necessary to by acoustic means by equipment such as radars
Submarine target positioning is carried out, therefore submarine target acoustics localization method is significant for submarine confrontation submarine target.
Traditional Passive Positioning System under water generally requires multiple primitives and realization of goal is positioned, such as three sub-array method and ball
Face interpolation method, this method carries out ranging using acoustical signal arrival time or phase, and required precision of structuring the formation basic matrix is high, work frequency
Rate is high, and ranging distance is near, and precision is low.
In recent years, the developing direction of location technology mainly has two major classes, Matched Field location technology [1] Baggeroer
A.B.,Kuperman W.A.,Mikhalevsky P.N.An overview of matched field methods in
ocean acoustics.IEEE Journal of Oceanic Engineering,1993,18(4):401-424 and target
Motion analysis [2] Nardone S.C., Lindgren A.G., Gone K.F.Fundamental properties and
performance of conventional bearings-only target motion analysis.IEEE
Transactions on Automatic Control,1984,29(9):775-787.Matched Field location technology is known to
Ocean environment parameter, using the reception signal of appropriate sound-field model calculating simulation, then with actually measuring obtained acoustical signal
Related " matching " is carried out, realizes and target sound source is positioned.This method needs mainly environment, sound-field model and the basic matrix solved
The problems such as system mismatch, often it is limited in complicated marine environment.Target motion analysis method requires that basic matrix or sound source are motor-driven, leads to
Sound bearing change is crossed to carry out recurrence resolving to sound source distance, not only convergence time is long, and range accuracy is relatively low.Therefore,
Development goal acoustics new location method is highly important.
The content of the invention
It is an object of the invention to position the above mentioned problem existed for existing target sound, there is provided can be used for abyssal environment
Submarine target passive ranging depth measurement a kind of deep-sea underwater sound passive ranging depth detecting method based on single hydrophone.
The present invention comprises the following steps：
1) lay submarine target noise record equipment to be observed, depth where record receiving hydrophone, measurement lays sea
The Hai Shen and Sound speed profile in domain；
2) time-domain signal for choosing single hydrophone in noise record equipment does time frequency analysis, observation receive signal 0~
Whether there is the presence of the striped of the frequency domain interval such as two kinds, if in the presence of the striped of the frequency domain interval such as two kinds, sentencing in 1kHz frequency ranges
Break in the first shadow zone internal memory target under water of receiving hydrophone, the spectrum analysis for gathering signal further according to single hydrophone extracts two
Plant interference periods；
3) according to the Sound speed profile of collection, Hai Shen and depth information is received, passes through under the simulation calculation reception depth second
Change curve of the frequency domain interference periods with propagation distance is planted, by second of frequency domain interference periods and the change curve of actual acquisition
Matched, obtain sound source distance；
In step 3) in, second of frequency domain interference periods, it is assumed that sound source depth is 100m.
4) according to the Sound speed profile of collection, Hai Shen, the sound source range information for receiving depth information and estimation, simulation calculation the
A kind of frequency domain interference periods are matched with the change curve of sound source depth with the first frequency domain interference periods of actual acquisition,
Obtain sound source depth.
The present invention compared to the prior art, with advantages below：
1) the use of single hydrophone is that the submarine target ranging depth measurement of deep sound field shadow zone can be achieved, it is not necessary to extensive hydrophone
Array；
2) need not known submarine acoustic parameter；
3) field computation need not be copied on a large scale.
Brief description of the drawings
Fig. 1 is the single hydrophone deep-sea passive ranging depth measurement principle schematic of the embodiment of the present invention；
Fig. 2 is simulated environment depth and distance relation in the embodiment of the present invention；
Fig. 3 is simulated environment depth and velocity of sound relation in the embodiment of the present invention；
Fig. 4 is that sound field frequency-temporal interference structure before striped is extracted in the embodiment of the present invention；
Fig. 5 is that sound field frequency-temporal interference structure after striped is extracted in the embodiment of the present invention；
Fig. 6 is that sound field frequency domain interference periods change with time in the embodiment of the present invention；
Fig. 7 be in the embodiment of the present invention second of frequency domain interference periods with sound source distance change；
Fig. 8 is the comparing result of estimated distance and actual range in the embodiment of the present invention；
Fig. 9 is the comparing result of evaluated error in the embodiment of the present invention；
Figure 10 is the frequency domain interference periods of yellow line in the embodiment of the present invention with the change of estimated distance；；
Figure 11 is sound source depth estimation result in the embodiment of the present invention.
Embodiment
Result of the present invention and work are described further below in conjunction with drawings and examples.
The single hydrophone deep-sea passive ranging depth detecting method of the present invention, its general principle is：
As shown in figure 1, when sound source is located at seawater surface, receiving hydrophone is located at the seawater surface in the shadow zone of sound field first,
Multiple sub-bottom reflection sound ray due to energy attenuation is big and the contribution to sound field can be ignored, the sound field in the first shadow zone only considers
The contribution of sub-bottom reflection sound ray, then at receiving hydrophone end by sound source-seabed-receiver, sound source-sea-seabed-reception
Device, sound source-seabed-sea-receiver, sound source-sea-seabed-sound ray of sea-receiver four formation sound field interference structure,
The sound intensity has two kinds of interference periods with frequency, increases with the increase of reception and transmission range, respectively with sound source depth, reception water
Listen the increase of device depth and reduce, therefore passive sound location distance and depth can be achieved by the sound field interference structure that single hydrophone is recorded
Degree estimation.
Simulated environment depth and distance relation are referring to Fig. 2 in the embodiment of the present invention, and simulated environment is deep in the embodiment of the present invention
Degree and velocity of sound relation is referring to Fig. 3.
The single hydrophone deep-sea passive ranging depth detecting method of the present invention, based on above-mentioned principle, specifically according to following steps
Implement：
Step one：Lay submarine target noise record equipment and carry out long-time observation, while where recording receiving hydrophone
Depth；
Step 2：Measurement lays the Hai Shen and Sound speed profile in marine site；
Step 3：As shown in figure 4, the time-domain signal for choosing single hydrophone in noise record equipment does time frequency analysis, observe
Receive whether signal has the presence of striped of the frequency domain interval such as two kinds in 0-1kHz frequency ranges, if there is between the frequency domains such as two kinds
Every striped, then judge the first shadow zone internal memory target under water in receiving hydrophone；
Step 4：As shown in figure 5, extracting the striped of the frequency domain interval such as two kinds, i.e. yellow line and red lines.As schemed
Shown in 6, the frequency domain interference periods for extracting two kinds of lines change with time situation.Because receiving hydrophone depth is 200m, and
Acoustic target working depth is shallower under practical application reclaimed water, therefore the frequency domain interference periods of the first interference cancellation striped compare second
The frequency domain interference periods for planting interference cancellation striped are big, so as to judge yellow line for the first interference cancellation striped, red lines
For second of interference cancellation striped；
Step 5：Because second of frequency domain interference periods is approximately unrelated with sound source depth, therefore in unknown sound source depth
In the case of can be assumed sound source depth be 100m, according to known sound velocity in seawater section, Hai Shen and receive depth information, such as Fig. 7
It is shown, using sound field computation model Bellhop calculate sound ray arrival time obtain second of frequency domain interference periods with sound source away from
From situation of change；
Step 6：By the frequency domain interference periods of the red lines of extraction and obtained second of the frequency domain interference periods of emulation with
The situation of change of sound source distance is matched, as shown in FIG. 8 and 9, obtains sound source estimated distance；
Step 7：As shown in Figure 10, changed with time situation according to the frequency domain interference periods of yellow line, and estimation
Sound source distance changes with time situation, obtains the frequency domain interference periods of yellow line with the situation of change of estimated distance；
Step 8：According to existing sound velocity in seawater section, Hai Shen, depth and sound source estimated distance are received, sound field meter is utilized
Calculate Model B ellhop and calculate the situation of change of the first frequency domain interference periods under different sound source depth with estimated distance, with yellow
The frequency domain interference periods of lines carry out matching with the situation of change of estimated distance and estimate sound source depth, as shown in figure 11；
This implementation is by single hydrophone, on the basis of known Hai Shen and Sound speed profile, matches sound field frequency domain interference periods
Obtain the horizontal range and target depth of submarine target and receiving hydrophone.Compared with traditional passive ranging method, this method is not
Need known submarine acoustic parameter and large-scale copy field computation.
Claims (2)
1. a kind of deep-sea underwater sound passive ranging depth detecting method based on single hydrophone, it is characterised in that comprise the following steps：
1) lay submarine target noise record equipment to be observed, depth where record receiving hydrophone, measurement lays marine site
Hai Shen and Sound speed profile；
2) time-domain signal for choosing single hydrophone in noise record equipment does time frequency analysis, and observation receives signal in 0~1kHz frequencies
Whether there is the presence of the striped of the frequency domain interval such as two kinds, if in the presence of the striped of the frequency domain interval such as two kinds, judging connecing in section
The first shadow zone internal memory target under water of hydrophone is received, two kinds of interference are extracted in the spectrum analysis for gathering signal further according to single hydrophone
Cycle；
3) according to the Sound speed profile of collection, Hai Shen and depth information is received, passes through second of frequency under the simulation calculation reception depth
Domain interference periods are carried out second of frequency domain interference periods of actual acquisition and the change curve with the change curve of propagation distance
Matching, obtains sound source distance；
4) according to the Sound speed profile of collection, Hai Shen, the sound source range information for receiving depth information and estimation, simulation calculation the first
Frequency domain interference periods are matched with the change curve of sound source depth with the first frequency domain interference periods of actual acquisition, are obtained
Sound source depth.
2. a kind of deep-sea underwater sound passive ranging depth detecting method based on single hydrophone as claimed in claim 1, it is characterised in that
Step 3) in, second of frequency domain interference periods, it is assumed that sound source depth is 100m.
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Cited By (8)
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| CN108414984A (en) * | 2018-01-16 | 2018-08-17 | 湖北工业大学 | A kind of submarine target localization method based on Second Order Interferometric |
| CN108572349A (en) * | 2018-04-17 | 2018-09-25 | 西北工业大学 | A kind of sound source depthkeeping method calculated based on model under abyssal environment |
| CN109031315A (en) * | 2018-06-26 | 2018-12-18 | 北京小米移动软件有限公司 | Distance measurement method, device, equipment and storage medium |
| CN111458678A (en) * | 2020-04-17 | 2020-07-28 | 东南大学 | Passive distance measurement method based on time-frequency interference spectrum and radiation noise sound intensity measurement |
| CN112684437A (en) * | 2021-01-12 | 2021-04-20 | 浙江大学 | Passive distance measurement method based on time domain warping transformation |
| CN113009419A (en) * | 2021-02-25 | 2021-06-22 | 中国科学院声学研究所 | Target depth estimation method based on frequency domain cross-correlation matching |
| CN114859420A (en) * | 2022-05-09 | 2022-08-05 | 中国人民解放军海军工程大学 | Shallow sea target sorting and underwater target motion situation and depth judgment method |
| CN117169816A (en) * | 2023-11-03 | 2023-12-05 | 西北工业大学青岛研究院 | Passive positioning method, medium and system for broadband sound source in deep sea sound shadow area |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108414984B (en) * | 2018-01-16 | 2021-02-19 | 湖北工业大学 | Underwater target positioning method based on second-order interference |
| CN108414984A (en) * | 2018-01-16 | 2018-08-17 | 湖北工业大学 | A kind of submarine target localization method based on Second Order Interferometric |
| CN108572349B (en) * | 2018-04-17 | 2021-12-24 | 西北工业大学 | Sound source depth setting method based on model calculation under deep sea environment |
| CN108572349A (en) * | 2018-04-17 | 2018-09-25 | 西北工业大学 | A kind of sound source depthkeeping method calculated based on model under abyssal environment |
| CN109031315A (en) * | 2018-06-26 | 2018-12-18 | 北京小米移动软件有限公司 | Distance measurement method, device, equipment and storage medium |
| CN111458678A (en) * | 2020-04-17 | 2020-07-28 | 东南大学 | Passive distance measurement method based on time-frequency interference spectrum and radiation noise sound intensity measurement |
| CN112684437A (en) * | 2021-01-12 | 2021-04-20 | 浙江大学 | Passive distance measurement method based on time domain warping transformation |
| CN112684437B (en) * | 2021-01-12 | 2023-08-11 | 浙江大学 | Passive ranging method based on time domain warping transformation |
| CN113009419A (en) * | 2021-02-25 | 2021-06-22 | 中国科学院声学研究所 | Target depth estimation method based on frequency domain cross-correlation matching |
| CN113009419B (en) * | 2021-02-25 | 2021-11-09 | 中国科学院声学研究所 | Target depth estimation method based on frequency domain cross-correlation matching |
| CN114859420A (en) * | 2022-05-09 | 2022-08-05 | 中国人民解放军海军工程大学 | Shallow sea target sorting and underwater target motion situation and depth judgment method |
| CN114859420B (en) * | 2022-05-09 | 2024-04-02 | 中国人民解放军海军工程大学 | Method for sorting targets in shallow sea and judging motion situation and depth of underwater targets |
| CN117169816A (en) * | 2023-11-03 | 2023-12-05 | 西北工业大学青岛研究院 | Passive positioning method, medium and system for broadband sound source in deep sea sound shadow area |
| CN117169816B (en) * | 2023-11-03 | 2024-02-02 | 西北工业大学青岛研究院 | Passive positioning method, medium and system for broadband sound source in deep sea sound shadow area |
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Application publication date: 20170822 |