CN107272005B - Active positioning method based on target echo arrival time delay and arrival angle under reliable acoustic path - Google Patents
Active positioning method based on target echo arrival time delay and arrival angle under reliable acoustic path Download PDFInfo
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- CN107272005B CN107272005B CN201710387446.8A CN201710387446A CN107272005B CN 107272005 B CN107272005 B CN 107272005B CN 201710387446 A CN201710387446 A CN 201710387446A CN 107272005 B CN107272005 B CN 107272005B
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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
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
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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
- G01S7/5273—Extracting wanted echo signals using digital techniques
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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
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention relates to an active positioning method based on target echo arrival time delay and arrival angle under a reliable acoustic path. The receiving array collects a target echo of a target, determines the arrival time delay and the arrival angle of the echo of a transmitting transducer-target-receiving array path, and performs matching processing on the arrival time delay and the arrival angle of the direct wave obtained by off-line calculation and the actually collected arrival time delay and the actually collected arrival angle of the direct wave to obtain a target positioning result.
Description
Technical Field
The invention belongs to the field of underwater acoustic signal processing.
Background
The deep sea Reliable Acoustic Path (RAP) is one of the channels for deep sea acoustic propagation. The RAP condition is that the receiver is located in deep sea and where the speed of sound is greater than the maximum of the speed of sound near the sea surface, i.e. the receiver is located below the critical depth. The reliable acoustic path means that when the depth of the acoustic source is greater than the critical depth, the acoustic propagation path is not affected by the offshore surface effect or the interaction of the seabed, so that the relationship with the characteristics of the marine environment near the sea surface is small, and the propagation signal is stable and reliable.
RAP provides a high signal-to-noise environment for sound source localization. The main reasons are two: (1) the RAP is the direct path between the target and the underwater acoustic device, so it is insensitive to surface scattering and seafloor reflection losses. The propagation loss (TL: transmission loss) at RAP is much smaller than that at other paths, such as surface reflection paths. (2) Noise generated by remote noise sources is difficult to reach below the critical depth, so that the ambient noise level at RAP is lower than the average ambient noise level in deep sea. (Rui D, Kun-De Y, Yuan-Liang M, et al. A reusable acidic path: physical properties and a source localization method [ J ]. Chinese properties B,2012,21(12):124301.)
Because of the low noise advantage of RAP, positioning with it is one of the hot directions of research. Currently, many people in the related art have studied to place receiving hydrophones in deep sea, and use RAP to passively probe targets located at the sea surface or at shallower depths. However, when the radiated noise level of the target is low, the method of passive detection using RAP faces a problem that the received signal level is weak, resulting in degradation of detection performance.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the defects of passive detection by using a reliable acoustic path, the invention provides an active positioning method using target echo time delay and a target echo arrival angle by using the reliable acoustic path. The proposed method uses a single transmitting transducer and a multi-element receiving array (both constituting a mono-sonar and located below a critical depth), the single transmitting transducer transmitting a pulsed signal and illuminating the target upwards. The receiving array collects a target echo of a target, determines the arrival time delay and the arrival angle of the echo of a transmitting transducer-target-receiving array path (hereinafter referred to as the arrival time delay of the direct wave and the arrival angle of the direct wave), and performs matching processing on the arrival time delay of the direct wave and the arrival angle of the direct wave obtained by off-line calculation and the actually collected arrival time delay of the direct wave and the actually collected arrival angle of the direct wave to obtain a target positioning result. The technical scheme of the invention is as follows: the active positioning method based on the arrival time delay and the arrival angle of the target echo under the reliable acoustic path comprises the following steps:
the method comprises the following steps: performing off-line simulation calculation by using sound field software, wherein the off-line simulation calculation comprises the following steps;
the first substep: the active sonar system is a single-base active sonar system consisting of a single transmitting transducer and N hydrophones, and is positioned below the critical depth of deep sea; the transmitting transducer transmits a chirp signal expressed as
Where f is the center frequency, k is the chirp rate, τ0Is the pulse width, T is the emission period;
and a second substep: dividing a distance-depth space to be observed into grids, assuming that a target is positioned at a certain grid point, and calculating the two-way time delay and the arrival angle of the direct wave reaching the geometric central point of the receiving array from the grid point by using a ray model in an off-line manner; let the number of grid points along the distance direction be I, and the number of grid points along the depth direction be J. Taking the corresponding grid point at the ith (I is 1,2, …, I) horizontal distance and the jth (J is 1,2, …, J) depth as an example, the two-way arrival time delay of the direct wave from the grid point to the geometric center of the receiving array is taui,jThe arrival angle of the direct wave arriving at the geometric center of the receiving array from the grid point is thetai,j. And performing the calculation on all the grid points, and storing the information of the arrival time delay and the arrival angle.
Step two: processing a target echo signal actually acquired by the multi-element hydrophone array, and extracting echo arrival time delay and arrival angle information; when the actual collection is carried out, the constitution of the used single-base sonar system and the expression formula of the chirp signal sent by the transmitting transducer are the same as those of the single-base sonar system in simulation and the expression formula of the chirp signal sent by the transmitting transducer; the transmitting transducer transmits a linear frequency modulation signal, and extracts and processes an echo signal received by the multi-element hydrophone array to obtain arrival time delay information and arrival angle information of a direct wave, and the transmitting transducer comprises the following substeps:
the first substep: performing band-pass filtering on target echo signals acquired by the hydrophone array, wherein each hydrophone is subjected to matched filtering on band-pass filtering output signals by using a matched filter corresponding to formula (1) to obtain matched filtering output
Wherein r isn(t) is a band-pass filtering output signal of an echo received by the nth hydrophone, and s (t) is a transmitting linear frequency modulation signal of the formula (1);
to the obtained Rn(tau) calculating an envelope, wherein the first peak in the envelope is a waveform obtained after the direct wave part is processed, and the time corresponding to the maximum value of the peak is the time delay value of the direct wave reaching the hydrophone.
Averaging the arrival time delays of the direct waves of all hydrophones
Wherein, taunThe time delay of arrival of the direct wave of the nth hydrophone is shown, and N is the total number of the hydrophones. Tau isDNamely the required direct wave arrival time delay information.
And a second substep: extracting the direct wave part of the matched filtering output obtained by the receiving array through a rectangular time window function, wherein the extraction formula is as follows:
wherein the rectangular time window function is
B is the transmit signal bandwidth. As can be seen from equation (5), the center time of the rectangular time window function W (τ) is the mean arrival time τ of the direct waveDAnd the width is 0.88/B.
And a third substep: to pair
Estimating the target azimuth to obtain the required arrival angle theta of the direct waveD；
Step three: respectively matching the arrival time delay and the arrival angle of the direct wave corresponding to each grid point obtained by simulation with the average arrival time delay and the arrival angle of the direct wave of the actual received signal, namely
Wherein, Pi,jIs output for the matching process for the corresponding grid point at the ith horizontal distance and the jth depth. The matching process output is searched along the distance and depth to obtain the target location result at the peak, and the target location has been obtained from the peak by time delay and angle matching.
The further technical scheme of the invention is as follows: the single-base active sonar system comprises a single transmitting transducer and N (6 is less than or equal to N is less than or equal to 64) hydrophones; n hydrophones form a uniform linear array, and the array element interval is a half wavelength corresponding to the central frequency of a transmitting signal.
The further technical scheme of the invention is as follows: the arrangement mode of the N-element hydrophone array is horizontal arrangement or vertical arrangement.
The further technical scheme of the invention is as follows: the arrangement mode of the single transmitting transducer and the N-element hydrophone array is as follows: the single transmitting transducer is taken as the center of a sphere, and the geometric center of the N-element hydrophone array is positioned at a certain point in a sphere (including a spherical surface) with the radius of 200 meters).
The further technical scheme of the invention is as follows: processing by adopting target azimuth estimation method suitable for linear array
The further technical scheme of the invention is as follows: the distance interval of the grid points is between 5 and 100 meters, and the depth interval is between 1 and 50 meters.
Effects of the invention
The invention has the technical effects that: aiming at the defects of a passive detection method based on a reliable acoustic path, the invention provides that a single-base active sonar is arranged below a critical depth, a target is irradiated by the reliable acoustic path, the arrival time delay and the arrival angle of a target direct wave are extracted by a multi-element receiving array, and an effective target positioning result is finally obtained.
The basic principle and the implementation scheme of the invention are verified by computer numerical simulation, and the result shows that: the active positioning method utilizing the reliable acoustic path can effectively position the target in the deep sea environment.
Drawings
FIG. 1 is a schematic diagram of an active localization method in a reliable acoustic path environment, where a single-base sonar system includes a transmitting acoustic source and a multi-element receiving array;
FIG. 2 is a flow chart of the positioning method;
FIG. 3 is a schematic diagram of actual received echoes and spikes after matched filtering;
fig. 4 is a schematic diagram of grid point division;
FIG. 5 is a diagram of positioning results of an embodiment;
FIG. 6 is an enlarged detail view of FIG. 5;
Detailed Description
The main contents of the invention are:
1) a single base active sonar consisting of a single transmitting transducer and a multi-element receiving array (hydrophone count between 6 and 64, inclusive) is placed below the critical depth of the deep sea. The transmitting transducer transmits a chirp signal (transmission may or may not have a certain vertical directivity), and irradiates a target scene from below through a reliable acoustic path. The target echo is returned through a reliable acoustic path to reach the multi-element receiving array.
2) And processing the target echo acquired on the multi-element array. The multi-element receiving array receives the echo, the arrival time delay of the echo (hereinafter referred to as direct wave) passing through a transmitting transducer-target-multi-element receiving array path is extracted from each receiving hydrophone by utilizing a matched filtering technology, and the average value of the time delay on all the hydrophones is calculated to obtain the average arrival time delay of the direct wave in the target echo. Intercepting the direct wave part of the matched filtering output, namely multiplying the matched filtering output by a rectangular time window function, wherein the central time of the rectangular time window is positioned at the average arrival time delay (namely the average arrival time of the direct wave), and the width of the rectangular time window is
B is hairThe signal bandwidth. And estimating the arrival angle of the direct waves intercepted from all the hydrophones to obtain the arrival angle of the direct waves.
3) And obtaining a target positioning result by using matching processing. And (3) dividing a distance-depth space to be observed into grids, wherein the distance interval of grid points is between 5 and 100 meters, and the depth interval is between 1 and 50 meters. And (3) calculating the arrival time delay and the arrival angle of the target direct echo reaching the geometric central point of the multi-element receiving array when the target is on each network point by using sound field software in an off-line manner, and storing the result. And matching the actually obtained average arrival time delay and arrival angle of the direct wave with the arrival time delay and arrival angle calculated by off-line simulation corresponding to each grid point one by one, describing the matching processing result on the grid point, obtaining a distance-depth two-dimensional fuzzy surface, and searching the peak value of the fuzzy surface to obtain a positioning result.
4) The positioning result of the method provided by the invention is given through computer numerical simulation, and the positioning result proves that the positioning method provided by the invention has a better positioning effect.
Technical scheme of the invention
Step 1) mainly relates to the arrangement of the single-base active sonar and the transmission and the reception of signals, and the specific content is as follows.
The transmitting transducer and the multi-element receiving array form a single-base active sonar which is placed below a critical depth. The transmitting transducer may transmit omni-directionally; in order to make the sound energy more concentrated, the sound can be emitted at a certain vertical opening angle, so that the sound wave is prevented from contacting the seabed; different irradiation ranges can be obtained by adjusting the emission opening angle range. This arrangement may have a horizontal distance of illumination of up to 40 km.
The transmitted signal being a chirp signal
Where f is the center frequency, k is the chirp rate, τ0Is the pulse width and T is the emission period.
Generally, the target is located several tens meters to several hundreds meters below the sea surface, and the receiving array receives the multi-path echo of the target, wherein the arrival time of the direct wave part is the earliest and the intensity is the largest. The target position can be uniquely determined by the arrival time delay and the arrival angle of the direct wave. Therefore, the invention mainly utilizes the arrival time delay of the direct wave and the arrival angle of the echo to carry out positioning.
In order to ensure sufficient array gain and consistency of arrival angles of echoes on the hydrophones, the number of the hydrophones of the receiving array is limited to 6-64 including 6 and 64, and the interval between the hydrophones is half wavelength.
And step 2) mainly relates to processing target echo signals acquired by the multi-element receiving array, and extracting direct wave arrival time delay information and direct wave arrival angle information, wherein the specific contents are as follows.
And performing band-pass filtering on target echo signals acquired by the hydrophones of the receiving array. Matching filtering is carried out on the band-pass filtering output of the target echo by using the matching filtering corresponding to the transmitting signal waveform to obtain the matching filtering output
Wherein r isnAnd (t) is the band-pass filtering output of the echo received by the nth hydrophone, and(s) (t) is a transmitting signal.
To the obtained Rn(τ) calculating an envelope, wherein a first peak along a time axis in the envelope is a waveform obtained by performing the above processing on the direct wave part (see fig. 3), and a time corresponding to a maximum value of the peak is a time delay value of the direct wave reaching the hydrophone.
Averaging the arrival time delays of the direct waves of all hydrophones
Wherein, taunThe time delay of arrival of the direct wave of the nth hydrophone is shown, and N is the total number of the hydrophones. Tau isDNamely the required direct wave arrival time delay information.
Extracting the direct wave part of the matched filter output obtained by the receiving array by using a rectangular time window function, namely, matching filtering of each hydrophoneWave output Rn(τ) multiplication by a rectangular time window function
Wherein the rectangular time window function is
B is the transmit signal bandwidth. As can be seen from the equation (5), the center time of W (τ) is the mean arrival time τ of the direct waveDAnd the width is 0.88/B.
The direct wave on the N hydrophones extracted after the treatment is matched and filtered and output
Estimating the target azimuth to obtain the required arrival angle of the direct wave, and setting the angle as thetaD. The existing target direction estimation methods, such as conventional beamforming method, Capon method, MUSIC method (Sunwer. underwater multi-sensor array signal processing), etc., can be used for processing
And estimating the arrival angle of the direct wave.
And step 3) mainly relates to off-line simulation calculation by using sound field software, and the specific content is as follows.
And (3) dividing a distance-depth space to be observed into grids, wherein the distance interval of grid points is between 5 and 100 meters, and the depth interval is between 1 and 50 meters. And (3) assuming that the target is positioned at a certain grid point, and calculating the two-way time delay of the direct wave and the arrival angle from the grid point to the geometric center point of the receiving array off line by using a Bellhop ray model. Let the number of grid points along the distance direction be I, and the number of grid points along the depth direction be J. Taking the corresponding grid point at the ith (I is 1,2, …, I) horizontal distance and the jth (J is 1,2, …, J) depth as an example, the two-way arrival time delay of the direct wave from the grid point to the geometric center of the receiving array is taui,jDirect waves arriving at the geometric center of the receiving array from the grid pointAngle of arrival θi,j. And performing the calculation on all the grid points, and storing the arrival time delay and the arrival angle.
And 4) matching the simulation data and the actually acquired data to obtain a target positioning result, wherein the specific content is as follows.
Respectively matching the arrival time delay and the arrival angle of the direct wave corresponding to each grid point obtained by simulation with the average arrival time delay and the arrival angle of the direct wave of the actual received signal, namely
Wherein, Pi,jIs output for the matching process for the corresponding grid point at the ith horizontal distance and the jth depth. The matching process output is searched along the distance and depth to obtain the target location result at the peak.
Taking a typical deep sea environment as an example, the implementation example of the invention is given. The implementation example uses a computer to perform numerical simulation to check the effect of the method of the present invention.
In an implementation example, the sound field software is used twice for the calculation. Calculating a target echo signal by using sound field software for the first time, and taking the echo signal as an actually acquired signal; and secondly, calculating the arrival time delay and the arrival angle of the direct wave corresponding to the target positioned on different grid points by using sound field software, and using the arrival time delay and the arrival angle of the direct wave as echo information calculated off line.
1) RAP Environment
Assuming a sea depth of 5500 meters, the acoustic velocity profile is the MUNK profile, and the critical depth is 4900 meters.
2) Single base sonar parameter
The sonar system is below the critical depth, i.e. 5000 meters deep. The transmitting sound source transmits a chirp signal as shown in formula (1), where f is 1500Hz and k is 25s-2，τ04s, and 60 s. The emission angle is-24 deg. to 5 deg., when the sound wave does not contact the sea bottom. The receiving array is a 32-element horizontal linear array.
3) Emulating actual received signals and processing thereof
Assume that the target is 300 meters below the sea surface, at a distance of 25 kilometers. Solving direct wave arrival angle theta by using Bellhop ray modelD(ii) a Transmitting transducer-target-receiving linear array path echo time delay tauDAmplitude ADAnd additional phase jump phi caused by sea surface reflectionD(ii) a Transmitting transducer-sea surface-target-receiving linear array path and transmitting transducer-target-sea surface-receiving linear array path echo time delay tauSAmplitude ASAnd additional phase jump phi caused by sea surface reflectionS(ii) a And transmitting transducer-sea-target-sea-receiving linear array path echo time delay tauDSAmplitude ADSAnd additional phase jump phi caused by sea surface reflectionDS. Corresponding to the four paths, the corresponding time delay and phase shift are respectively carried out on the transmitted linear frequency modulation signals, the amplitude is adjusted to be the amplitude of the path echo, and the echo waveform of the path is obtained. And adding the echoes of the four paths, and adding white noise to obtain the simulated target echo at the receiving array. And carrying out corresponding time delay on the echo according to the position of the hydrophone and the arrival angle of the direct wave to obtain the echo waveform received by each hydrophone. Processing the echoes received by each hydrophone according to the step 2) in the technical scheme, wherein frequency domain filtering adopts a four-order Butterworth band-pass filter with cut-off frequencies of 1450Hz and 1550Hz, target orientation estimation adopts a Capon beam forming algorithm (Sunpao. underwater multi-sensor array signal processing), and finally the average arrival time delay and the arrival angle of the direct wave of the target echo are obtained.
4) Calculating the arrival time delay and the arrival angle of the target direct wave corresponding to different grid points in an off-line manner
Dividing a distance-depth space to be observed into grid points, wherein the depth of the distance-depth space to be observed is from 0 meter to 5500 meters, and the distance is from 10 meters to 100 kilometers; the depth direction divides 1101 grid points, and the distance direction divides 5000 grid points. Assuming that the target is located at a certain grid point (i, j), solving the arrival angle theta of the direct wave by using a Bellhop ray modeli,jAnd the arrival time delay tau of direct wavei,j. Obtaining the corresponding grid points of each grid point according to the description of step 3) of the technical schemeThe time delay of arrival and the angle of arrival of the direct wave are stored.
5) Matching processing and positioning
And matching the stored direct wave arrival time delay and the direct wave arrival angle corresponding to each grid point with the direct wave average arrival time delay and the direct wave arrival angle of the actual received signal according to the formula (6), and representing the matching result by using a two-dimensional gray scale.
Claims (6)
1. The active positioning method based on the arrival time delay and the arrival angle of the target echo under the reliable acoustic path is characterized by comprising the following steps of:
the method comprises the following steps: performing off-line simulation calculation by using sound field software, wherein the off-line simulation calculation comprises the following steps;
the first substep: the active sonar system is a single-base active sonar system consisting of a single transmitting transducer and N hydrophones, and is positioned below the critical depth of deep sea; the transmitting transducer transmits a chirp signal expressed as
Where f is the center frequency, k is the chirp rate, τ0Is the pulse width, T is the emission period;
and a second substep: dividing a distance-depth space to be observed into grids, locating a target at a certain grid point, and calculating the two-way time delay and the arrival angle of the direct wave reaching the geometric central point of the receiving array from the grid point by using a ray model in an off-line manner; setting the number of grid points along the distance direction as I and the number of grid points along the depth direction as J; the time delay of two-way arrival of the direct wave from the grid point to the geometric center of the receiving array is tau at the corresponding grid point at the ith horizontal distance and the jth depthi,jThe arrival angle of the direct wave arriving at the geometric center of the receiving array from the grid point is thetai,jWherein I is 1,2, …, I, J is 1,2, …, J; calculating the direct wave two-way time delay and the arrival angle from the grid point to the geometric center point of the receiving array for all the grid points, and storing the information of the arrival time delay and the arrival angle;
step two: processing a target echo signal actually acquired by the multi-element hydrophone array, and extracting echo arrival time delay and arrival angle information; when the actual collection is carried out, the constitution of the used single-base sonar system and the expression formula of the chirp signal sent by the transmitting transducer are the same as those of the single-base sonar system in simulation and the expression formula of the chirp signal sent by the transmitting transducer; the transmitting transducer transmits a linear frequency modulation signal, and extracts and processes an echo signal received by the multi-element hydrophone array to obtain arrival time delay information and arrival angle information of a direct wave, and the transmitting transducer comprises the following substeps:
the first substep: performing band-pass filtering on target echo signals acquired by the hydrophone array, performing matched filtering on band-pass filtering output signals of each hydrophone by using a matched filter corresponding to a formula (1) to obtain matched filtering output
Wherein r isn(t) is a band-pass filtering output signal of an echo received by the nth hydrophone, and s (t) is a transmitting linear frequency modulation signal of the formula (1);
to the obtained Rn(tau) calculating an envelope, wherein a first peak in the envelope is a waveform obtained after the direct wave is partially processed, and the time corresponding to the maximum value of the peak is a time delay value of the direct wave reaching the hydrophone;
averaging the arrival time delays of the direct waves of all hydrophones
Wherein, taunThe time delay of arrival of the direct wave of the nth hydrophone is shown, and N is the total number of the hydrophones; tau isDThe information is the required direct wave arrival time delay information;
and a second substep: extracting the direct wave part of the matched filtering output obtained by the receiving array through a rectangular time window function, wherein the extraction formula is as follows:
wherein the rectangular time window function is
B is the transmission signal bandwidth; as can be seen from equation (5), the center time of the rectangular time window function W (τ) is the mean arrival time τ of the direct waveDThe width is 0.88/B;
and a third substep: to pair
Estimating the target azimuth to obtain the required arrival angle theta of the direct waveDWherein N is 1,2, …, N;
step three: respectively matching the arrival time delay and the arrival angle of the direct wave corresponding to each grid point obtained by simulation with the average arrival time delay and the arrival angle of the direct wave of the actual received signal, namely
Wherein, Pi,jOutput for matching processing for corresponding grid points at the ith horizontal distance and the jth depth; and searching the matching processing output along the distance and the depth, obtaining a target positioning result at the peak value, and obtaining a target position from the peak value through time delay and angle matching.
2. The active positioning method based on the arrival time delay and the arrival angle of the target echo under the reliable acoustic path as claimed in claim 1, wherein the monostatic active sonar system comprises a single transmitting transducer and N hydrophones, N is more than or equal to 6 and less than or equal to 64; n hydrophones form a uniform linear array, and the array element interval is a half wavelength corresponding to the central frequency of a transmitting signal.
3. The active positioning method based on the arrival time delay and the arrival angle of the target echo in the reliable acoustic path as claimed in claim 1, wherein the arrangement mode of the N-element hydrophone array is horizontal arrangement or vertical arrangement.
4. The active positioning method based on the arrival time delay and the arrival angle of the target echo under the reliable acoustic path as claimed in claim 1 or 3, wherein the arrangement mode of the single transmitting transducer and the N-element hydrophone array is as follows: the geometric center of the N-element hydrophone array is positioned at a certain point in a sphere with the radius of 200 meters and including the spherical surface by taking a single transmitting transducer as the center of the sphere.
5. The active localization method based on the arrival time delay and the arrival angle of the target echo under the reliable acoustic path as claimed in claim 1, wherein the target orientation estimation method suitable for the linear array is adopted for processing
Wherein N is 1,2, …, N.
6. The active localization method based on arrival time delay and arrival angle of target echo in reliable acoustic path as claimed in claim 1, wherein the distance interval of the grid points is between 5-100 m, and the depth interval is between 1-50 m.
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