CN109752086A - Quick calculation method of sound field based on BELLHOP - Google Patents
Quick calculation method of sound field based on BELLHOP Download PDFInfo
- Publication number
- CN109752086A CN109752086A CN201811584309.4A CN201811584309A CN109752086A CN 109752086 A CN109752086 A CN 109752086A CN 201811584309 A CN201811584309 A CN 201811584309A CN 109752086 A CN109752086 A CN 109752086A
- Authority
- CN
- China
- Prior art keywords
- sound
- depth
- sound field
- bellhop
- calculating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention belongs to underwater sound field, the quick calculation method of sound field based on BELLHOP is disclosed, step (1): specified basis step-length L0, ocean depth h0, sound source initial depth hsAnd boundary tolerance Δ h；Step (2): the functional relation f (h) of the depth of water and the velocity of sound is established；Step (3): the derived function g (h) of f (h) is defined；Step (4): ask | g (h) | maximum value max | g (h) |, enable M=max | g (h) |；Step (5): interpolation is carried out to f (h), is obtained in hsDepth acoustic velocity value f (hs) and f (hs) derivative g (hs)；Step (6): if hs< Δ h or hs> h0Δ h enables g (hs)=M；Step (7): to f (hs) derivative g (hs) be normalized, enable g2(hs)=g (hs)/M；Step (8): construction meets the g (h) of constraint condition and the mapping relations r (g (h)) of size of mesh opening；Step (9): side length of element L is calculated；Step (10): calculating in current grid and boundary sound-filed simulation；Step (11): judge whether current location reaches receiving point；Step (12): sound field calculating terminates, and stops calculating.This invention ensures that sound field calculate speed, improve sound field calculating precision.
Description
Technical field
The invention belongs to underwater sound fields, more particularly to the quick calculation method of sound field based on BELLHOP.
Background technique
In the equipment such as submarine, UUV, AUV and torpedo, to give full play to fighting efficiency, it is typically necessary according to battlefield
Situation and hydrologic condition real-time estimation sound-filed simulation.And fast and accurately the estimation of underwater sound field be Underwater Battery and equipment from
Lead the important references information that performance is accurately estimated, attack option is worked out.
BELLHOP sound field software for calculation based on Gauss acoustic beam model has become sound field criterion calculation software, calculates
Accuracy and reliability has obtained the abundant inspection of multiple scholars and mechanism.The basic ideas of Gauss acoustic beam model are to see sound field
Make a series of linear superposition of sound rays, and intensity of the acoustic beam on cross section uses the form of Gaussian function.In the processing of sound source
On, Gauss acoustic beam model thinks that sound source is a series of linear superposition of acoustic beams, each acoustic beam independent propagation in sound field.Gauss sound
Sound wave propagation equation is reduced to sound ray equation and adjoint equation by beam model.
By above-mentioned equation discretization, the recursive expression of sound ray calculating can be obtained, which can use computer
It is realized, as long as given initial value, i.e., using computer by iterating to obtain sound field.Sound field computation model
BELLHOP software is based on this method and obtains final sound-filed simulation using alternative manner.
In discretization process, the space block of smaller scale is actually divided space into according to certain rule, is claimed
For " grid ".As long as grid dividing, enough to thin, the parameters such as the grid internal acoustic characteristic such as velocity of sound, temperature can be considered normal
Number, therefore need to only consider that the sound field of grid and grid junction changes.Theoretically, as long as the size of each grid is sufficiently small,
The solution of problem can strictly be acquired.But, it is contemplated that numerical precision cannot be infinitely small in computer, and computing capability is limited, institute
Can not usually acquire the strict solution of sound field using this method, approximate solution can only be acquired in a certain range.In general, sound field
The division methods of grid in discretization process are depended on whether solving accurate: grid dividing must be more careful, the size of each grid
Smaller, the precision of calculated result is higher, but required calculation amount is also bigger.If the size of each grid is larger, can be rapidly
The solution of sound field is acquired, but calculated result and the error of realistic acoustic field are also larger.
The division methods of sound field grid are not provided in BELLHOP software, need artificially planning grid in use process
Splitting scheme, which also limits the automation applications of this method.For example, generally requiring during torpedo strikes target short
Sound field is repeatedly calculated in time, if it is unpractical for introducing artificial participative decision making during this.On the other hand, artificial to divide
Grid will inevitably introduce subjective factor, can not change adjustment splitting scheme in time according to sound field, it is unnecessary thus to introduce
Calculating waste and due to grid dividing scheme it is not careful caused by sound field calculate inaccuracy.Therefore, BELLHOP sound-field model
Software for calculation be badly in need of it is a kind of automation, steady sound field Meshing Method.
Summary of the invention
It is an object of the invention to open computational accuracy and calculating speed harmony are good, high reliablity based on BELLHOP
Quick calculation method of sound field.
The object of the present invention is achieved like this:
Quick calculation method of sound field based on BELLHOP, comprises the following steps:
Step (1): specified basis step-length L0, ocean depth h0, sound source initial depth hsAnd boundary tolerance Δ h；
Step (2): Bottom sound speed coordinate system is established, using sensor every ΔhOcean acoustic velocity value of depth measurement, builds
The functional relation f (h) of the vertical depth of water and the velocity of sound, f (h) indicate the velocity of sound at the depth of water h in water, ΔhTo quantify step value；H=0 table
Show sea, h=h0Indicate seabed；
Step (3): the derived function g (h) of f (h) is defined；
Step (4): ask | g (h) | maximum value max | g (h) |, enable M=max | g (h) |；
Step (5): interpolation is carried out to f (h), is obtained in hsDepth acoustic velocity value f (hs) and f (hs) derivative g (hs)；
Step (6): if hs< Δ h or hs> h0Δ h enables g (hs)=M；
Step (7): to f (hs) derivative g (hs) be normalized, enable g2(hs)=g (hs)/M；
Step (8): the mapping relations r (g (h)) of construction g (h) and size of mesh opening, and r (g (h)) is made to meet constraint condition；
Constraint condition: including constraint one, constraint two, constraint three, constraint four and constraint five:
It is unrelated with g (h) symbol to constrain one: r (g (h)), it is only related with g (h) order of magnitude；
Constrain two: r (g (h)) and | g (h) | it is negatively correlated, i.e., | g (h) | bigger, r (g (h)) numerical value is smaller；
Constraining three: r (g (h)) should be in g (0) and g (h0) at obtain maximum value；
The codomain for constraining four: r (g (h)) is [r0, 1], r0To be a small amount of greater than 0, the scale of minimum grid in expression system
The factor；
Constrain five: r (g (h)) monotone decreasing on section (0,1).
Step (9): side length of element L is calculated:
L=r (g (hs))L0；
Step (10): calculating in current grid according to BELLHOP model and boundary sound-filed simulation, and obtains sound in grid
The depth of sound ray terminal point in grid is assigned to h by the depth of line terminal points；
Step (11): judging whether current location reaches receiving point, thens follow the steps if current location reaches receiving point
(12), no to then follow the steps (5)；
Step (12): sound field calculating terminates, and stops calculating.
The invention has the benefit that
Present invention employs adaptive grid dividing schemes, can automatically adjust grid dividing side according to sound field parameters
On the one hand case ensure that the speed that sound field calculates, on the other hand improve the precision of sound field calculating；Of the invention is adaptable,
It can adapt to the calculating of sound field under different scenes.
Detailed description of the invention
Fig. 1 is the quick calculation method of sound field flow chart based on BELLHOP；
Fig. 2 is Bottom sound speed coordinate system schematic diagram.
Specific embodiment
Further describe the present invention with reference to the accompanying drawing:
In the equipment such as submarine, UUV, AUV and torpedo, to give full play to fighting efficiency, it is typically necessary according to battlefield
Situation and hydrologic condition real-time estimation sound-filed simulation.And fast and accurately the estimation of underwater sound field be Underwater Battery and equipment from
Lead the important references information that performance is accurately estimated, attack option is worked out.BELLHOP sound field based on Gauss acoustic beam model calculates soft
Part has become sound field criterion calculation software, calculates accuracy and reliability and has obtained the abundant inspection of multiple scholars and mechanism
It tests.The basic ideas of Gauss acoustic beam model are sound field to be regarded to a series of linear superposition of sound rays as, and acoustic beam is on cross section
Intensity uses the form of Gaussian function.In the processing of sound source, Gauss acoustic beam model thinks that sound source is a series of the linear of acoustic beams
Superposition, each acoustic beam independent propagation in sound field.Sound wave propagation equation is reduced to sound ray equation and adjoint side by Gauss acoustic beam model
Journey:
In above formula, c (s) is the velocity of sound, and r (s) and z (s) indicate that the coordinate of sound ray under cylindrical coordinate, s are the arc length along sound ray.
It is available using one group with component p (s) and q (s) description sound curvature of a curve and width
In above formula, cnnFor 2 order derivatives of sound field.
By above-mentioned equation discretization, the recursive expression of sound ray calculating can be obtained, which can use computer
It is realized, as long as given initial value, i.e., using computer by iterating to obtain sound field.Sound field computation model
BELLHOP software is based on this method and obtains final sound-filed simulation using alternative manner.
According to sound field computation model, the present invention proposes the quick calculation method of sound field based on BELLHOP, such as Fig. 1, comprising such as
Lower step:
Step (1): specified basis step-length L0, ocean depth h0, sound source initial depth hsAnd boundary tolerance Δ h；
Due to having carried out discretization to sound field in calculating process, with true value there are certain error, the numerical value of depth is general
0 or h will not be strictly equal to0, so specifying an error range with Δ h, it is somebody's turn to do when the numerical value and frontier distance of depth are less than
When range, just BORDER PROCESSING is regarded at this, program robustness can be enhanced in this way, prevent from leading to miss boundary because of quantization error
The case where.
Step (2): such as Fig. 2, Bottom sound speed coordinate system is established, using sensor every ΔhOcean acoustic of depth measurement
Speed value, establishes the functional relation f (h) of the depth of water and the velocity of sound, and f (h) indicates the velocity of sound at the depth of water h in water, ΔhTo quantify stepping
Value；H=0 indicates sea, h=h0Indicate seabed；
It is influenced by temperature, depth, f (h) is usually the curve changed near 1500m/s.Obviously, flat in f (h) variation
Slow place shows that underwater environment variation is more slow, and BELLHOP model will not be influenced by divide using the grid of large scale
Computational accuracy, and change violent place in f (h) and show underwater environment variation acutely, should use at this time the grid of small scale into
Row divides, to guarantee that the velocity of sound inside each grid can be regarded as constant processing.
Step (3): the derived function g (h) of f (h) is defined:
It can be seen that g (h) describes the variation severe degree and change direction of sound velocity gradient: the value of g is positive, expression sound
Speed is increasing, and the increased numerical value of the velocity of sound is g (h) in per unit depth；If the value of g is negative, then it represents that acoustic velocity value is with depth
Increase reducing, depth one unit distance of every increase, then velocity of sound numerical value reduce | g (h) |.So can use g (h)
Instruct the splitting scheme of sound field grid in BELLHOP model.| g (h) | the big place of numerical value shows that the velocity of sound is quickly changing,
Should be divided into the lesser grid of scale at this time, and in | g (h) | the lesser place of numerical value, show in the region sonic velocity change compared with
To be slow, the grid that large scale can be used at this time is divided, and can also be use up under the premise of guaranteeing computational accuracy in this way
Amount reduces calculation amount, improves calculating speed.
Step (4): ask | g (h) | maximum value max | g (h) |, enable M=max | g (h) |；
Step (5): interpolation is carried out to f (h), is obtained in hsDepth acoustic velocity value f (hs) and f (hs) derivative g (hs)；By
It is to measure to obtain every one section of depth using sensor in f (h), not necessarily just there is h in f (h)sThe measured value at place,
Therefore need to carry out interpolation to f (h), in the hope of f (hs) specific value.
Step (6): if hs< Δ h i.e. at this time hsBy Layer Near The Sea Surface or hs> h0Δ h is this means that hsBy near Sea Bottom, g (h is enableds)
=M；
Step (7): obtaining since f (h) needs are measured in advance by sensor, be convenience of calculation, needs first to carry out g (h)
Normalize to obtain g2(h), make g2(h) codomain is [0,1]: enabling g2(hs)=g (hs)/M；
Step (8): it only needs to design a kind of mapping relations r in g (h) and size of mesh opening, can realize net in sound field
The automatic division of lattice.It is the continuous function between 0~1 that r can be designed as to codomain, as long as so given datum length L0, just
The length L of sound field grid at h can be obtained:
The mapping relations r (g (h)) of g (h) and size of mesh opening are constructed, in order to balance sound-field model computational accuracy and calculating speed
Degree, makes r (g (h)) meet constraint condition；
Constraint condition: including constraint one, constraint two, constraint three, constraint four and constraint five:
It is unrelated with g (h) symbol to constrain one: r (g (h)), it is only related with g (h) order of magnitude；
Constrain two: r (g (h)) and | g (h) | it is negatively correlated, i.e., | g (h) | bigger, r (g (h)) numerical value is smaller；
Constraining three: r (g (h)) should be in g (0) and g (h0) at obtain maximum value；
The codomain for constraining four: r (g (h)) is [r0, 1], r0To be a small amount of greater than 0, the scale of minimum grid in expression system
The factor；
Constrain five: r (g (h)) monotone decreasing on section (0,1).
Step (9): side length of element L is calculated:
L=r (g (hs))L0；
Step (10): calculating in current grid according to BELLHOP model and boundary sound-filed simulation, and obtains sound in grid
The depth of sound ray terminal point in grid is assigned to h by the depth of line terminal points；
Step (11): judging whether current location reaches receiving point, thens follow the steps if current location reaches receiving point
(12), no to then follow the steps (5)；
Step (12): sound field calculating terminates, and stops calculating.
Embodiment 1: the quick calculation method of sound field based on BELLHOP comprises the following steps:
Step (1): specified basis step-length L0, ocean depth h0, sound source initial depth hsAnd boundary tolerance Δ h；
Step (2): Bottom sound speed coordinate system is established, using sensor every ΔhOcean acoustic velocity value of depth measurement, builds
The functional relation f (h) of the vertical depth of water and the velocity of sound, f (h) indicate the velocity of sound at the depth of water h in water, ΔhTo quantify step value；
Step (3): the derived function g (h) of f (h) is defined:
Step (4): ask | g (h) | maximum value max | g (h) |, enable M=max | g (h) |；
Step (5): interpolation is carried out to f (h), is obtained in hsDepth acoustic velocity value f (hs) and f (hs) derivative g (hs)；
Step (6): if hs< Δ h or hs> h0Δ h enables g (hs)=M；
Step (7): to f (hs) derivative g (hs) be normalized, enable g2(hs)=g (hs)/M；
Step (8): extra large depth h is calculatedsR (the g at place2(hs)):
In above formula, ε and r0For constant, shape and the position of function r have been codetermined.ε > 0 is scale factor, and adjusting ε can
To realize the scaling to r function；It is zero this error situation that another effect of ε, which is that of avoiding denominator, so that even if
The value of r does not also dissipate under extreme case, ensure that the stability of algorithm.r0It is the minimum value of r (h), meets 0 < r0< 1.It determines
The deviant of function.At the most violent place of sonic velocity change and sea, seabed, r obtains minimum value r0.Therefore, r0Determine sound
The scale factor of minimum grid in.
Step (9): side length of element L is calculated:
L=r (g (hs))L0；
Step (10): calculating in current grid according to BELLHOP model and boundary sound-filed simulation, and obtains sound in grid
The depth of sound ray terminal point in grid is assigned to h by the depth of line terminal points；
Step (11): judging whether current location reaches receiving point, thens follow the steps if current location reaches receiving point
(12), no to then follow the steps (5)；
Step (12): sound field calculating terminates, and stops calculating.
It compared with prior art, can be automatic according to sound field parameters present invention employs adaptive grid dividing scheme
Ground adjusts grid dividing scheme, on the one hand ensure that the speed that sound field calculates, on the other hand improves the precision of sound field calculating；This
That invents is adaptable, can adapt to the calculating of sound field under different scenes.
The above is not intended to restrict the invention, and for those skilled in the art, the present invention can have various
Change and variation.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all include
Within protection scope of the present invention.
Claims (3)
1. the quick calculation method of sound field based on BELLHOP, it is characterised in that: comprise the following steps:
Step (1): specified basis step-length L0, ocean depth h0, sound source initial depth hsAnd boundary tolerance Δ h；
Step (2): Bottom sound speed coordinate system is established, using sensor every ΔhOcean acoustic velocity value of depth measurement, establishes water
The deep functional relation f (h) with the velocity of sound, f (h) indicate the velocity of sound at the depth of water h in water, ΔhTo quantify step value；H=0 indicates sea
Face, h=h0Indicate seabed；
Step (3): the derived function g (h) of f (h) is defined；
Step (4): ask | g (h) | maximum value max | g (h) |, enable M=max | g (h) |；
Step (5): interpolation is carried out to f (h), is obtained in hsDepth acoustic velocity value f (hs) and f (hs) derivative g (hs)；
Step (6): if hs< Δ h or hs> h0Δ h enables g (hs)=M；
Step (7): to f (hs) derivative g (hs) be normalized, enable g2(hs)=g (hs)/M；
Step (8): the mapping relations r (g (h)) of construction g (h) and size of mesh opening, and r (g (h)) is made to meet constraint condition；
Step (9): side length of element L is calculated:
L=r (g (hs))L0；
Step (10): calculating in current grid according to BELLHOP model and boundary sound-filed simulation, and it is whole to obtain sound ray in grid
Depth at point, is assigned to h for the depth of sound ray terminal point in grids；
Step (11): judging whether current location reaches receiving point, no if current location reaches receiving point and thens follow the steps (12)
Then follow the steps (5)；
Step (12): sound field calculating terminates, and stops calculating.
2. the quick calculation method of sound field according to claim 1 based on BELLHOP, it is characterised in that: the f (h)
Derived function g (h):
3. the quick calculation method of sound field according to claim 1 based on BELLHOP, it is characterised in that: the constraint
Condition: including constraint one, constraint two, constraint three, constraint four and constraint five:
It is unrelated with g (h) symbol to constrain one: r (g (h)), it is only related with g (h) order of magnitude；
Constrain two: r (g (h)) and | g (h) | it is negatively correlated, i.e., | g (h) | bigger, r (g (h)) numerical value is smaller；
Constraining three: r (g (h)) should be in g (0) and g (h0) at obtain maximum value；
The codomain for constraining four: r (g (h)) is [r0, 1], r0To be a small amount of greater than 0, the scale factor of minimum grid in expression system；
Constrain five: r (g (h)) monotone decreasing on section (0,1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811584309.4A CN109752086B (en) | 2018-12-24 | 2018-12-24 | BELLHOP-based rapid sound field calculation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811584309.4A CN109752086B (en) | 2018-12-24 | 2018-12-24 | BELLHOP-based rapid sound field calculation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109752086A true CN109752086A (en) | 2019-05-14 |
| CN109752086B CN109752086B (en) | 2020-12-04 |
Family
ID=66403085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811584309.4A Active CN109752086B (en) | 2018-12-24 | 2018-12-24 | BELLHOP-based rapid sound field calculation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109752086B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264721A (en) * | 2021-11-26 | 2022-04-01 | 海鹰企业集团有限责任公司 | Novel sound velocity processing system |
| CN116244078A (en) * | 2023-02-27 | 2023-06-09 | 青岛中海潮科技有限公司 | Underwater sound field rapid calculation method based on multithreading and SIMD |
| CN114264721B (en) * | 2021-11-26 | 2024-04-19 | 海鹰企业集团有限责任公司 | Novel sound velocity processing system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6388948B1 (en) * | 2000-10-12 | 2002-05-14 | The United States Of America As Represented By The Secretary Of The Navy | Method and system for determining underwater effective sound velocity |
| CN103076590A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Method for positioning underwater sound pulse signal on basis of frequency estimation |
| CN106646373A (en) * | 2016-12-16 | 2017-05-10 | 西北工业大学 | Short-distance sound source combined positioning method based on shallow-sea multipath arrival angle and arrival time delay |
| CN107990969A (en) * | 2017-12-29 | 2018-05-04 | 中国海洋石油集团有限公司 | A kind of effective sound velocity table building method based on non-homogeneous sparse sampling |
-
2018
- 2018-12-24 CN CN201811584309.4A patent/CN109752086B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6388948B1 (en) * | 2000-10-12 | 2002-05-14 | The United States Of America As Represented By The Secretary Of The Navy | Method and system for determining underwater effective sound velocity |
| CN103076590A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Method for positioning underwater sound pulse signal on basis of frequency estimation |
| CN106646373A (en) * | 2016-12-16 | 2017-05-10 | 西北工业大学 | Short-distance sound source combined positioning method based on shallow-sea multipath arrival angle and arrival time delay |
| CN107990969A (en) * | 2017-12-29 | 2018-05-04 | 中国海洋石油集团有限公司 | A kind of effective sound velocity table building method based on non-homogeneous sparse sampling |
Non-Patent Citations (1)
| Title |
|---|
| 何心怡 等: "基于高斯声束模型的快速声场计算方法", 《鱼雷技术》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264721A (en) * | 2021-11-26 | 2022-04-01 | 海鹰企业集团有限责任公司 | Novel sound velocity processing system |
| CN114264721B (en) * | 2021-11-26 | 2024-04-19 | 海鹰企业集团有限责任公司 | Novel sound velocity processing system |
| CN116244078A (en) * | 2023-02-27 | 2023-06-09 | 青岛中海潮科技有限公司 | Underwater sound field rapid calculation method based on multithreading and SIMD |
| CN116244078B (en) * | 2023-02-27 | 2023-12-01 | 青岛中海潮科技有限公司 | Underwater sound field rapid calculation method based on multithreading and SIMD |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109752086B (en) | 2020-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106595834B (en) | A method of obtaining the horizontal longitudinal correlation of the big depth sound field in deep-sea | |
| JP4998039B2 (en) | Observation data assimilation method | |
| CN108460210B (en) | Noise characteristic real-time estimation method of dynamic positioning system based on noise residual error and covariance matching | |
| CN109447133A (en) | A kind of elimination method of the location information outlier based on SVR algorithm | |
| JP2020158072A (en) | Vessel performance estimation method and vessel performance estimation system by assimilation of data | |
| Park et al. | Novel scaling law for estimating propeller tip vortex cavitation noise from model experiment | |
| CN110555398A (en) | Fault diagnosis method for determining first arrival moment of fault based on optimal filtering smoothness | |
| KR102082263B1 (en) | Underwater Acoustic Positioning System and Method thereof | |
| CN110132281A (en) | A kind of autonomous acoustic navigation method of underwater high-speed target with high precision based on inquiry answer-mode | |
| CN109657525A (en) | A kind of rapid correction method for traditional LiDAR filtering error | |
| CN109752086A (en) | Quick calculation method of sound field based on BELLHOP | |
| Liu et al. | Gravity aided positioning based on real-time ICCP with optimized matching sequence length | |
| CN115563749A (en) | Method, system and medium for optimizing passive sonar buoy arrangement | |
| CN106527454B (en) | A kind of long-range submarine navigation device depth-setting control method of no steady-state error | |
| CN108446496A (en) | Water front collision checking method and device in real time in a kind of marine simulator | |
| CN108387872A (en) | Ultra-short baseline positioning and optimizing method based on maximum offset method | |
| CN110515065B (en) | Radiation noise line spectrum source depth identification method | |
| CN114707327B (en) | Parallel marine environment underwater sound characteristic diagnosis method, storage medium and device | |
| CN105841777B (en) | A kind of multibeam echosounding estimation method and system based on adaptively selected node | |
| CN111177645B (en) | Large-scale high-speed rotation equipment error hybrid assessment method based on large-scale point cloud data | |
| CN112902931B (en) | Method for measuring and eliminating delay between depth measurement data and positioning data of unmanned ship | |
| CN108267743A (en) | Iteratively faster Underwater Navigation method based on fitting | |
| JP2007327898A (en) | Standard deviation calculation method and its program of sound field energy spread in gaussian ray bundle model | |
| JP2006047700A (en) | Three-dimensional bathymetric chart display device and method | |
| RU2498354C1 (en) | Method of estimating full profile of vertical distribution of sound speed |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |