CN110412588A - A kind of target three-dimensional information measurement method and system based on crossed array - Google Patents

A kind of target three-dimensional information measurement method and system based on crossed array Download PDF

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CN110412588A
CN110412588A CN201910676624.8A CN201910676624A CN110412588A CN 110412588 A CN110412588 A CN 110412588A CN 201910676624 A CN201910676624 A CN 201910676624A CN 110412588 A CN110412588 A CN 110412588A
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distance
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CN110412588B (en
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闫路
许枫
杨娟
陈�田
崔雷雷
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Institute of Acoustics CAS
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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
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/52015—Diversity systems

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses a kind of target three-dimensional information measurement method and system based on crossed array, the method includes: carrying out dynamic focusing Wave beam forming respectively to the Element space echo data for receiving basic matrix, forms the two-dimentional sound spectrogram of horizontal-distance and the two-dimentional sound spectrogram of vertical-distance；Joint-detection is carried out to the two-dimentional sound spectrogram of horizontal-distance using signal amplitude and object module, obtains target level to information；Fusion target level estimates the vertical to information of multiple suspected target points using center of energy and dynamic threshold joint-detection to information in the two-dimentional sound spectrogram of vertical-distance；Multiple suspected target points are detected using dynamic threshold, non-doubtful point is rejected, obtains target point；In conjunction with the pitch angle and structure of crossed array, bottom and surface of sea distribution is estimated, and then estimates the depth of target；By the depth combining target horizontal direction information of target, target three-dimensional information is obtained.Method of the invention improves the adaptivity and accuracy of target depth measurement, and calculation amount is small and easy realization.

Description

Cross array based target three-dimensional information measuring method and system
Technical Field
The invention relates to an underwater acoustic signal processing method in the ocean field, in particular to a target three-dimensional information measuring method and system based on a cross array.
Background
The image sonar can provide real-time underwater images for the application fields of underwater navigation, underwater target search, hydraulic engineering monitoring and the like, and underwater target detection is realized. In practical engineering application, a commonly used image sonar is a two-dimensional image sonar, and for a forward-looking sonar, only distance information and horizontal direction information of a target can be acquired. In the target detection and identification process, in order to further confirm the target so as to find or avoid the target, the depth information of the target in the water must be estimated. The underwater detection can be carried out by using the three-dimensional imaging sonar, and the three-dimensional image information of the target in the covered water area, namely the distance information, the horizontal direction information and the depth information, can be obtained, but the hardware complexity of the three-dimensional imaging sonar is higher, and the difficulty in target detection is increased.
The existing depth sounders, such as single-beam depth sounders and multi-beam depth sounders, mainly have the functions of measuring the depth of the sea bed/lake bottom and have poor detection and depth sounding performance on small targets in water.
Disclosure of Invention
The invention aims to overcome the technical defects, designs a cross array and provides a method and a system for measuring target three-dimensional information based on the cross array.
In order to achieve the above object, the present invention provides a method for measuring target three-dimensional information based on a cross array, the method is implemented based on a cross array, the cross array comprises: the receiving array comprises a horizontal receiving array and a vertical receiving array which share one transmitting array; the method comprises the following steps:
respectively carrying out dynamic focusing beam forming on array element domain echo data of a receiving array to form a horizontal-distance two-dimensional acoustic image and a vertical-distance two-dimensional acoustic image;
performing joint detection on the horizontal-distance two-dimensional acoustic image by adopting the signal amplitude and a target model to obtain target horizontal direction information;
target horizontal information is fused in the vertical-distance two-dimensional acoustic image, and vertical information of a plurality of suspected target points is estimated by adopting energy center and dynamic threshold joint detection; dynamic threshold detection is carried out on a plurality of suspected target points, non-suspected points are removed, and target points are obtained;
estimating the sea surface distribution at the bottom of the sea by combining the pitch angle and the structure of the cross array, and further estimating the depth of the target;
and combining the depth of the target with the horizontal information of the target to obtain the three-dimensional information of the target.
As an improvement of the above method, the dynamic focusing beam forming is performed on the array element domain echo data of the receiving matrix respectively to form a horizontal-distance two-dimensional acoustic image and a vertical-distance two-dimensional acoustic image; the method specifically comprises the following steps:
the number of the array elements of the horizontal receiving array is MhLinear uniform array with adjacent array elements spaced by a distance dhThe number of the array elements of the vertical receiving array is MvLinear uniform array with adjacent array elements spaced by a distance dvThe received echo signals are x respectivelyh(t) and xv(t) performing dynamic focused reception of pre-multi-beam forming:
wherein,andweighting vectors, theta, for horizontal and vertical receiving matrices, respectivelyiIndicating a multi-beam pointing angle in an angular range [ theta ]min,θmax]，θminIs a minimum angle, θmaxThe angle is the maximum angle, and the angle is the maximum angle,andthe horizontal-distance sonogram data and the vertical-distance sonogram data are respectively formed into a two-dimensional image.
As an improvement of the above method, the jointly detecting the horizontal-distance two-dimensional acoustic map by using the signal amplitude and the target model to obtain the target horizontal direction information specifically includes:
calculating the echo signal intensity EL of the target0：
EL0＝SL0-TL0(R0)+TS0
Wherein SL0Is the sound source level of the emitting array; TS (transport stream)0For which the target intensity of the target is detected, the target being at a distance R from the intersecting array0，TL0(R0) Propagation loss as a function of target point distance;
according to the receiving sensitivity of the horizontal receiving array, the voltage V of the target echo signal is calculated0：
V0＝10^((Sh+20logPa)/20)
Wherein S ishIndicating the receive sensitivity, P, of a horizontal receive arrayaFor receiving a signal EL0Corresponding sound pressure;
according to the gain amplification of the receiving circuit system and the gain of the beam forming, the signal amplitude A of the beam domain target is estimated0；
Signal amplitude A0As a detection threshold, combining the number N of target model pixel points0Realizing dynamic threshold detection of the horizontal array target, thereby estimating and obtaining the horizontal distance position of the targetAnd horizontal angle information
As an improvement of the above method, the target horizontal direction information is fused in the vertical-distance two-dimensional acoustic image, and the vertical direction information of a plurality of suspected target points is estimated by adopting energy center and dynamic threshold joint detection; dynamic threshold detection is carried out on a plurality of suspected target points, non-suspected points are removed, and target points are obtained; the method specifically comprises the following steps:
in a regionInner, r0Calculating the distance direction time resolution ratio tau according to the distance set according to the test application scene, the type of the received signal and the emission pulse width;
selecting an energy estimation interval Td，TdEstimate interval T using energy of 4 τdInterval the distanceIs divided into K energy intervals, and the energy of each interval is expressed as
Wherein, tjIs the starting time of the jth energy interval,the amplitude value of the jth energy interval of the ith beam is vertically;
sorting the energy values of K intervals to obtain the maximum energy value EmaxThe corresponding k-th energy concentration interval is [ t ]k,tk+Td]；
To [ t ]k,tk+Td]The data amplitude values in the interval are averaged to carry out dynamic threshold detection, non-target points in the energy interval are eliminated, and finally the amplitude is adoptedA degree time weighting method for estimating the arrival time t of the scattering echoes of the multiple beam targetsa_m：
Wherein N isbIs the number of horizontal receive beams; thereby estimating the time value t of the suspected target on each beama_mAnd a corresponding amplitude value;
performing dynamic threshold detection on suspected target points of a plurality of beams, taking the number of beams larger than the threshold and the number of beams smaller than the threshold as non-suspected target points, and removing the non-suspected target points to obtain NsEstimating N for each suspected targetsAnd drawing a target point curve in the vertical-distance acoustic diagram by the arrival time value of the suspected target echo and the corresponding beam angle.
As an improvement of the above method, the estimating a sea surface distribution at the sea bottom by combining the pitch angle and the structure of the cross array, and further estimating the depth of the target specifically includes:
converting the vertical-distance rectangular sonogram data into sector sonogram display data:
wherein rr isvDistance information in a sector acoustic diagram, C is underwater sound velocity, TjIs the acoustic wave propagation time, θu,vIs the angular information, x, in the sector mapuIs the abscissa in the vertical-distance direction rectangular acoustic diagram; u and v are positive integers;
depth coordinate x of sea surface in sector graphm0And depth coordinate x of the sea floor in the sector mapd0Respectively as follows:
wherein HmThe depth of the cross array from the sea surface; hdThe depth of the cross array from the sea floor is the pitch angle of the cross array matrixφminAnd phimaxRespectively the minimum angle and the maximum angle of the vertical sector graph;
will NsThe arrival time value and the corresponding beam angle of each suspected target echo are converted into the depth of a sector graph
According to the following judgment conditions
xm0＜xsi＜xd0,i＝1,2,3,…,Ns
Further excluding suspected targets outside the sea surface and the sea floor;
and carrying out dynamic threshold detection on the screened suspected target, and estimating the vertical distance and the angle (r) corresponding to the point with the maximum amplitudes0,φs0) And obtaining the depth information of the target according to the triangular geometric relationship of the cross arrayComprises the following steps:
as an improvement of the above method, after estimating the depth of the target, the method further includes: and correcting the target depth by utilizing the sound ray bending:
according to the vertical information distance and angle (r) of the targets0,φs0) Combined with the sound velocity profile, will be deepUniformly layering in the direction of degree, and dividing the depth into NHLayers, each layer having a depth Δ H;
calculating the propagation time of each layer:
Δtl＝ΔH/cl
wherein, clRepresenting the sound velocity corresponding to the ith gradient layer; l is more than or equal to 1 and less than or equal to NH
The cumulative time t of the propagation times of the layerszComprises the following steps:
when t isz≥2rs0when/C, the number of the corresponding gradient layers is solved to be ns；
The corrected target depthComprises the following steps:
denotes the n-thsThe corresponding speed of sound of the gradient layer,the depth of the target in the water is finally estimated.
As an improvement of the above method, the combining the depth of the target with the horizontal information of the target to obtain the three-dimensional information of the target specifically includes:
establishing a body coordinate system by taking the cross array as a body, wherein the origin is at the intersection of the horizontal array and the vertical array, the horizontal array is in the x direction towards the right, the vertical array is in the z direction downwards, and the y direction is determined according to a right-hand rule;
then under this coordinate system, the three-dimensional position of the target is:
the invention also provides a target three-dimensional information measuring system based on the cross array, which comprises:
a crossbar array, said crossbar array comprising: the receiving array comprises a horizontal receiving array and a vertical receiving array which share one transmitting array;
the two-dimensional multi-beam image generation module is used for respectively carrying out dynamic focusing beam forming on the array element domain echo data of the receiving array to form a horizontal-distance two-dimensional acoustic image and a vertical-distance two-dimensional acoustic image;
the target horizontal information estimation module is used for carrying out joint detection on the horizontal-distance two-dimensional acoustic image by adopting the signal amplitude and a target model to obtain target horizontal information;
the vertical target point detection module is used for fusing target horizontal information in a vertical-distance two-dimensional acoustic image, and estimating vertical information of a plurality of suspected target points by adopting energy center and dynamic threshold combined detection; dynamic threshold detection is carried out on a plurality of suspected target points, non-suspected points are removed, and target points are obtained;
the depth information estimation module is used for estimating the sea surface distribution at the bottom of the sea by combining the pitch angle and the structure of the cross array so as to estimate the depth of the target;
and the target three-dimensional information calculation module is used for combining the corrected target depth with the target horizontal information to obtain the target three-dimensional information.
As an improvement of the above system, the two-dimensional multibeam image generation module is implemented by the following specific processes:
the number of the array elements of the horizontal receiving array is MhLinear uniform array with adjacent array elements spaced by a distance dhThe number of the array elements of the vertical receiving array is MvLinear uniform array with adjacent array elements spaced by a distance dvThe received echo signals are x respectivelyh(t) and xv(t) performing dynamic focused reception of pre-multi-beam forming:
wherein,andweighting vectors, theta, for horizontal and vertical receiving matrices, respectivelyiIndicating a multi-beam pointing angle in an angular range [ theta ]min,θmax]，θminIs a minimum angle, θmaxThe angle is the maximum angle, and the angle is the maximum angle,andthe horizontal-distance sonogram data and the vertical-distance sonogram data are respectively formed into a two-dimensional image.
As an improvement of the above system, the target level information estimation module is implemented by:
calculating the echo signal intensity EL of the target0：
EL0＝SL0-TL0(R0)+TS0
Wherein SL0Is the sound source level of the emitting array; TS (transport stream)0For which the target intensity of the target is detected, the target being at a distance R from the intersecting array0，TL0(R0) Propagation loss as a function of target point distance;
according to the receiving sensitivity of the horizontal receiving array, the voltage V of the target echo signal is calculated0：
V0＝10^((Sh+20logPa)/20)
Wherein S ishIndicating the receive sensitivity, P, of a horizontal receive arrayaFor receiving a signal EL0Corresponding sound pressure;
according to the gain amplification of the receiving circuit system and the gain of the beam forming, the signal amplitude A of the beam domain target is estimated0；
Signal amplitude A0As a detection threshold, combining the number N of target model pixel points0Realizing dynamic threshold detection of the horizontal array target, thereby estimating and obtaining the horizontal distance position of the targetAnd horizontal angle information
As an improvement of the above system, the vertical target point detection module includes: a vertical suspected target detection submodule and a dynamic detection submodule,
the vertical suspected target detection submodule is used for detecting a suspected target on each beam in the vertical direction; the method specifically comprises the following steps:
in a regionInner, r0Calculating the distance direction time resolution ratio tau according to the distance set according to the test application scene, the type of the received signal and the emission pulse width;
selecting an energy estimation interval Td，TdEstimate interval T using energy of 4 τdInterval the distanceIs divided into K energy intervals, and the energy of each interval is expressed as
Wherein, tjIs the jth energy regionAt the start of the time between the start of the operation,the amplitude value of the jth energy interval of the ith beam is vertically;
sorting the energy values of K intervals to obtain the maximum energy value EmaxThe corresponding k-th energy concentration interval is [ t ]k,tk+Td]；
To [ t ]k,tk+Td]The data amplitude values in the interval are averaged to carry out dynamic threshold detection, non-target points in the energy interval are eliminated, and finally the arrival time t of the scattering echoes of the multiple beam targets is estimated by adopting an amplitude-time weighting methoda_m：
Wherein N isbIs the number of horizontal receive beams; thereby estimating the time value t of the suspected target on each beama_mAnd a corresponding amplitude value;
the dynamic detection submodule is used for carrying out dynamic threshold detection on suspected target points of a plurality of beams, taking the number of the beams larger than the threshold and the number of the beams smaller than the threshold as non-suspected target points, and removing the non-suspected target points to obtain NsEstimating N for each suspected targetsAnd drawing a target point curve in the vertical-distance acoustic diagram by the arrival time value of the suspected target echo and the corresponding beam angle.
As an improvement of the above system, the depth information estimation module is implemented as follows:
converting the vertical-distance rectangular sonogram data into sector sonogram display data:
wherein rr isvDistance information in a sector acoustic diagram, C is underwater sound velocity, TjIs the acoustic wave propagation time, θu,vIs the angular information, x, in the sector mapuIs the abscissa in the vertical-distance direction rectangular acoustic diagram; u and v are positive integers;
depth coordinate x of sea surface in sector graphm0And depth coordinate x of the sea floor in the sector mapd0Respectively as follows:
wherein HmThe depth of the cross array from the sea surface; hdThe depth of the cross array from the sea floor is the pitch angle of the cross array matrixφminAnd phimaxRespectively the minimum angle and the maximum angle of the vertical sector graph;
will NsThe arrival time value and the corresponding beam angle of each suspected target echo are converted into the depth of a sector graph
According to the following judgment conditions
xm0＜xsi＜xd0,i＝1,2,3,…,Ns
Further excluding suspected targets outside the sea surface and the sea floor;
and carrying out dynamic threshold detection on the screened suspected target, and estimating the vertical distance and the angle (r) corresponding to the point with the maximum amplitudes0,φs0) And obtaining the depth information of the target according to the triangular geometric relationship of the cross arrayComprises the following steps:
as an improvement of the above system, the system further includes a depth information estimation module, and the specific implementation process is as follows:
according to the vertical information distance and angle (r) of the targets0,φs0) And combining the sound velocity profile to uniformly layer the depth direction and divide the depth into NHLayers, each layer having a depth Δ H;
calculating the propagation time of each layer:
Δtl＝ΔH/cl
wherein, clRepresenting the sound velocity corresponding to the ith gradient layer; l is more than or equal to 1 and less than or equal to NH
The cumulative time t of the propagation times of the layerszComprises the following steps:
when t isz≥2rs0when/C, the number of the corresponding gradient layers is solved to be ns；
The corrected target depthComprises the following steps:
denotes the n-thsThe corresponding speed of sound of the gradient layer,the depth of the target in the water is finally estimated.
As an improvement of the above system, the specific implementation process of the target three-dimensional information calculation module is as follows:
establishing a body coordinate system by taking the cross array as a body, wherein the origin is at the intersection of the horizontal array and the vertical array, the horizontal array is in the x direction towards the right, the vertical array is in the z direction downwards, and the y direction is determined according to a right-hand rule;
then under this coordinate system, the three-dimensional position of the target is:
compared with the prior art, the invention has the advantages that:
1. the method improves the adaptability and the accuracy of the target depth measuring system, and reduces the complexity of the measuring system;
2. the method of the invention can not only estimate the depth of the target, but also obtain the accurate three-dimensional information of the target, and has small calculation amount and easy realization.
Drawings
Fig. 1 is a flowchart of a method for measuring three-dimensional information of a target based on a cross array according to embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a crossbar array provided in example 1 of the present invention;
FIG. 3(a) is a horizontal sound diagram of a frame provided by an embodiment of the present invention;
FIG. 3(b) is a vertical acoustic diagram of a frame provided by an embodiment of the present invention;
FIG. 4 is a schematic representation of a sound velocity profile used in an example of the invention.
Detailed Description
The invention is explained in detail below with reference to the figures and the specific embodiments.
Example 1
As shown in fig. 1, embodiment 1 of the present invention provides a method for measuring three-dimensional information of a target based on a crossbar array, where the method includes:
step 101) designing a cross array, wherein a horizontal array and a vertical array cross array are used as receiving arrays and share a transmitting array; the transmitting array and the vertical array are on the same straight line, the transmitting array is arranged below the horizontal array, and the detection range is front lower side; a cross array is mounted to the bow of the carrier, the cross array being schematically shown in fig. 2.
And establishing a body coordinate system by taking the cross array as a body, wherein the origin is at the intersection of the horizontal array and the vertical array, the horizontal array is in the x direction to the right, the vertical array is in the z direction to the bottom, and the y direction is determined according to a right-hand rule.
Step 102) adopting a horizontal matrix and a vertical matrix cross array as receiving matrix echo receiving data to respectively carry out dynamic focusing beam forming processing on the horizontal matrix and vertical matrix array element field echo data to form a horizontal-distance two-dimensional multi-beam acoustic diagram and a vertical-distance two-dimensional multi-beam acoustic diagram;
a model of a frame of array element echo signal data assumes that the number of horizontally received array elements is MhLinear uniform array with adjacent array elements spaced by a distance dhThe number of array elements of the vertical receiving array is MvLinear uniform array with adjacent array elements spaced by a distance dvThe received echo signals are x respectivelyh(t) and xv(t) performing dynamic focused reception of pre-multi-beam forming:
wherein,andweighted vectors, theta, for horizontal and vertical matrices, respectivelyiIndicating a multi-beam pointing angle in an angular range [ theta ]min,θmax]，θminIs a minimum angle, θmaxThe angle is the maximum angle, and the angle is the maximum angle,andthe horizontal-distance sonogram data and the vertical-distance sonogram data are respectively formed into a two-dimensional image.
Step 103) estimating a range of range information of a target by adopting a threshold and target model fusion detection method for a horizontal-distance two-dimensional image, estimating an energy concentration interval and an energy corresponding value on each wave beam by adopting an energy center detection method for each wave beam in a vertical-distance image according to a target range near the distance estimated by the horizontal-distance image, eliminating non-target points in the energy interval by adopting a dynamic threshold detection method, and further obtaining the arrival time of a target scattering echo by adopting amplitude-time weighted average;
step 103) further comprises:
and step 103-1) in the cross array, the horizontal receiving array is a main detection array, and target detection is realized according to the target echo amplitude and by combining the number of target pixel points. Set the target intensity of its detection target to TS0The sound source level of the emitting array is SL0The target distance is R0Calculating the echo signal intensity EL of the target0Is composed of
EL0＝SL0-TL0(R0)+TS0
Wherein, TL0(R0) Calculating the voltage of a target echo signal according to the receiving sensitivity of the horizontal receiving array and the propagation loss related to the distance of the target point,
V0＝10^((Sh+20logPa)/20)
wherein S ishReceive sensitivity of a horizontal receive arrayDegree, PaFor receiving a signal EL0The corresponding sound pressure. Then according to the gain amplification of the receiving circuit system and the gain of the beam formation, the signal amplitude A of the beam domain target is estimated0The signal intensity is obtained through statistics of a plurality of test data.
The underwater target to be detected is generally regular in shape, the number of pixel points mapped to the acoustic image is basically fixed, and the number of pixel points is N0The test data is obtained through statistics of multiple times of test data.
Combined signal amplitude a0Number of pixel points N as detection threshold and target model0Realizing the detection of the horizontal array target, estimating and obtaining the horizontal distance position of the targetAnd horizontal angle information
Step 103-2) estimating and obtaining the distance position of the target according to the horizontal array estimated in the step 103-1)Because the target point is the intersection point of the horizontal-distance acoustic diagram and the vertical-distance acoustic diagram, the vertical-distance two-dimensional data is processed according to the intersection characteristics of the horizontal receiving array and the vertical receiving array, and the two-dimensional data is processed in a certain area(r0Distance interval set according to a test application scene) and an energy center detection method is adopted to perform target detection on each wave beam in the vertical-distance area, and an energy concentration interval and an energy value on each wave beam are estimated.
Calculating the distance direction time resolution ratio tau according to the type of the received signal and the transmitting pulse width, and selecting an energy estimation interval T in consideration of the extension of the echo signaldEstimating the interval T using the energydInterval the distanceIs divided into K energy intervals, and the energy of each interval is expressed as
Wherein, tjIs the starting time of the jth energy interval,is the amplitude value of the jth energy interval of the vertical direction ith beam. Sorting according to the energy values of K intervals and judging the maximum energy EmaxThe corresponding energy concentration interval is tk～tk+Td. The data amplitude in the interval is averaged to carry out dynamic threshold detection, non-target points in the energy interval are removed, and finally, the arrival time t of the scattered echoes of the multiple beam targets is estimated by adopting an amplitude-time weighting methoda_m
Wherein N isbIs the number of horizontal receive beams. Thus, the time value t of the suspected target on each beam is estimateda_mAnd a corresponding amplitude value.
The number of pixel points N of the target model mapped on the image0. The above energies are uniformly distributed, and an energy estimation interval T is selecteddIs 4 tau and this width is determined by the number of scattering points of the target.
Step 104) for the vertical-range data, pair NbPerforming dynamic threshold detection on suspected target points of a plurality of beams, and estimating N according to the number of beams greater than the threshold and the number of beams smaller than the thresholdsAnd acquiring the possible distance and angle position of the target by the arrival time value and the corresponding beam angle of the suspected target echo. Estimating the depth of the sea bottom and the sea surface according to the installation angle of the matrix and the array structure parameters of the matrix, and estimating the depth of the sea bottom and the sea surface according to the three of the matrixAnd estimating the depth information of the target by using the angular geometrical relation, and correcting the depth of the target according to the sound velocity profile.
The step 104) further comprises:
step 104-1) according to the suspected target points of the plurality of beams estimated in step 102), carrying out dynamic threshold detection, and according to the number of beams larger than the threshold and the number of beams smaller than the threshold, further eliminating the non-suspected target points and estimating NsAnd drawing a target point curve in the acoustic diagram by the arrival time value of each suspected target echo and the corresponding beam angle.
Step 104-2) converting the vertical-distance rectangular sonogram data obtained in step 102) into fan-shaped sonogram display data,
wherein rr isjDistance information in a sector acoustic diagram, C is underwater sound velocity, TjIs the acoustic wave propagation time, θi,jIs the angular information, x, in the sector mapiIs the abscissa in the rectangular chart.
The depth of the sonar array from the water surface is assumed to be HmDepth of sea floor HdThe pitch angle of the matrix isAccording to the image sonar sector map mapping theory, if the seabed is a flat seabed, the mapping of the seabed and the sea surface in the sector acoustic map is basically a vertical line, and the depth coordinate x of the sea surface in the sector acoustic map ism0And depth coordinate x of the sea floor in the sector mapd0Are respectively as
Wherein phi isminAnd phimaxRespectively the minimum angle and the maximum angle of the vertical sector map, and the N estimated in the step 104-1)sThe arrival time value and the corresponding beam angle of each suspected target echo are converted into the depth of a sector graphIf the suspected target is located between the sea surface and the sea bottom in the depth information because the target is a floating target in the water, the judgment condition is that
xm0＜xsi＜xd0(i＝1,2,3,…,Ns)
Further excluding suspected targets outside the sea surface and the seabed, performing dynamic threshold detection on the screened suspected targets, and estimating the vertical distance and the angle (r) corresponding to the point with the maximum amplitudes0,φs0) And obtaining the depth information of the target according to the triangular geometric relationship of the matrixIs as follows.
And step 104-3) because the sounding matrix is mainly a vertical receiving matrix, in an actual marine environment, the sound ray is bent to influence the target sounding longitude, and the sound ray bending correction is carried out on the target sounding according to the sound velocity profile. According to the vertical information distance and angle (r) of the target detected in the step 104-2)s0,φs0) And the depth direction is uniformly layered by combining the sound velocity profile, so that the calculation complexity can be reduced, and the depth is divided into N according to the requirement of depth measurement precisionHDepth of each layer is Δ H and is in accordance with Snell's law
Wherein alpha isiGrazing angle of sound ray of i-th layer, ciIs the corresponding speed of sound. The sound ray correction process comprises the following steps:
Δti＝ΔH/ci
the correction can be stopped when the accumulated time t of the propagation time of each layer reaches the target propagation time, i.e. tz≥2rs0/C, solving the corresponding gradient layer number nsAnd then the target depth after correctionIs composed of
ThenCombining the target horizontal direction information estimated in the step 103) for finally estimating the depth of the target in the water: horizontal range position of targetAnd horizontal angle informationThree-dimensional information of the target can be obtained:
example 2
Embodiment 2 of the present invention provides a system for measuring three-dimensional information of a target based on a cross array, the system including:
a crossbar array, the crossbar array comprising: the receiving array comprises a horizontal receiving array and a vertical receiving array which share one transmitting array;
the two-dimensional multi-beam image generation module is used for respectively carrying out dynamic focusing beam forming processing on the element domain echo data of the horizontal array and the vertical array to form a horizontal-distance two-dimensional multi-beam acoustic image and a vertical-distance two-dimensional multi-beam acoustic image;
a target horizontal information estimation module for detecting the horizontal information of the target by combining the amplitude and the target model of the horizontal image,
assume that the target intensity of its detection target is TS0The sound source level of the emitting array is SL0The target distance is R0Calculating the echo signal intensity EL of the target0Is composed of
EL0＝SL0-TL0(R0)+TS0
Wherein, TL0(R0) Calculating the voltage of a target echo signal according to the receiving sensitivity of the horizontal receiving array and the propagation loss related to the distance of the target point,
V0＝10^((Sh+20logPa)/20)
wherein S ishIndicating the receive sensitivity, P, of a horizontal receive arrayaFor receiving a signal EL0The corresponding sound pressure. Then according to the gain amplification of the receiving circuit system and the gain of the beam formation, the signal amplitude A of the beam domain target is estimated0The signal intensity is obtained through statistics of a plurality of test data.
The underwater target to be detected is generally regular in shape, the number of pixel points of the underwater target mapped to the distance direction of the acoustic image is basically fixed, and the number of pixel points is N0The test data is obtained through statistics of multiple times of test data.
Combined signal amplitude a0Number of pixel points N as detection threshold and target model distance0Realizing the detection of the horizontal array target, estimating and obtaining the horizontal distance position of the target
A vertical target detection module comprising: a vertical suspected target detection submodule and a dynamic detection submodule,
the vertical suspected target detection submodule is used for estimating and obtaining the distance position of a target according to the estimated horizontal arrayBecause the target point is the intersection point of the horizontal-distance acoustic diagram and the vertical-distance acoustic diagram, the vertical-distance two-dimensional data is processed according to the intersection characteristics of the horizontal receiving array and the vertical receiving array, and the two-dimensional data is processed in a certain area(r0Distance interval set according to a test application scene) and an energy center detection method is adopted to perform target detection on each wave beam in the vertical-distance area, and an energy concentration interval and an energy value on each wave beam are estimated.
Calculating the distance direction time resolution ratio tau according to the type of the received signal and the transmitting pulse width, and selecting an energy estimation interval T in consideration of the extension of the echo signaldEstimating the interval T using the energydInterval the distanceIs divided into K energy intervals, and the energy of each interval is expressed as
Wherein, tjIs the starting time of the jth energy interval,is the amplitude value of the jth energy interval of the vertical direction ith beam. Sorting according to the energy values of K intervals and judging the maximum energy EmaxThe corresponding energy concentration interval is tk～tk+Td. Averaging the data amplitudes in this interval for dynamic threshold detection,non-target points in the energy interval are removed, and finally, the arrival time t of the scattering echoes of the multiple beam targets is estimated by adopting an amplitude-time weighting methoda_m
Wherein N isbIs the number of horizontal receive beams. Thus, the time value t of the suspected target on each beam is estimateda_mAnd a corresponding amplitude value.
The number of pixel points N of the target model mapped on the image0. The above energies are uniformly distributed, and an energy estimation interval T is selecteddIs 4 tau and this width is determined by the number of scattering points of the target.
A dynamic detection sub-module for estimating the suspected target points of the multiple beams, performing dynamic threshold detection, and further rejecting the non-suspected target points and estimating N according to the number of beams greater than the threshold and the number of beams less than the thresholdsAnd drawing a target point curve in the acoustic diagram by the arrival time value of each suspected target echo and the corresponding beam angle.
The depth information estimation module is used for converting the rectangular sound image into a fan-shaped sound image by adopting an image conversion algorithm and estimating the vertical information of a suspected target point in the fan-shaped sound image; and estimating the sea surface depth information of the sea bottom by adopting the position information of the sector image, and further screening out a target point to obtain the target depth information.
The vertical-distance oriented rectangular sonogram data is converted into fan-shaped sonogram display data,
wherein rr isjDistance information in a sector acoustic diagram, C is underwater sound velocity, TjIs the acoustic wave propagation time, θi,jAs corners in a sectorDegree information, xiIs the abscissa in the rectangular chart.
The depth of the sonar array from the water surface is assumed to be HmDepth of sea floor HdThe pitch angle of the matrix isAccording to the image sonar sector map mapping theory, if the seabed is a flat seabed, the mapping of the seabed and the sea surface in the sector acoustic map is basically a vertical line, and the depth coordinate x of the sea surface in the sector acoustic map ism0And depth coordinate x of the sea floor in the sector mapd0Are respectively as
Wherein phi isminAnd phimaxRespectively the minimum angle and the maximum angle of the vertical sector graph, and the estimated NsThe arrival time value and the corresponding beam angle of each suspected target echo are converted into the depth of a sector graphIf the suspected target is located between the sea surface and the sea bottom in the depth information because the target is a floating target in the water, the judgment condition is that
xm0＜xsi＜xd0(i＝1,2,3,…,Ns)
Further excluding suspected targets outside the sea surface and the seabed, performing dynamic threshold detection on the screened suspected targets, and estimating the vertical distance and the angle (r) corresponding to the point with the maximum amplitudes0,φs0) And obtaining the depth information of the target according to the triangular geometric relationship of the matrixIs as follows.
A depth correction module for correcting the depth of the target by using the sound ray bending, and according to the detected vertical information distance and angle (r) of the targets0,φs0) And the depth direction is uniformly layered by combining the sound velocity profile, so that the calculation complexity can be reduced, and the depth is divided into N according to the requirement of depth measurement precisionHThe depth of each layer is Δ H, and according to Snell's law:
wherein alpha isiGrazing angle of sound ray of i-th layer, ciIs the corresponding speed of sound. The sound ray correction process is
Δti＝ΔH/ci
The correction can be stopped when the accumulated time t of the propagation time of each layer reaches the target propagation time, i.e. tz≥2rs0/C, solving the corresponding gradient layer number nsAnd then the target depth after correctionIs composed of
Denotes the n-thsThe corresponding speed of sound of the gradient layer,the depth of the target in the water is finally estimated.
And the target three-dimensional information calculation module is used for combining the depth of the target with the target horizontal information to obtain the target three-dimensional information.
Examples of the invention
In this example, the system parameters are: a target depth measuring system based on a cross array is characterized in that receiving transducer matrixes are a horizontal receiving matrix and a vertical receiving matrix which are used as the cross array, the used data are data obtained by a test on a lake, the depth of the matrix from the water surface is 4.5 meters, the depth of the lake bottom is 65 meters, the sound velocity is 1480m/s, the number of the horizontal receiving matrixes is 200, the number of the vertical receiving matrixes is 30, the pitch angle of the matrix is 0.7 degrees, only one frame of data is processed, and the processing result is as follows.
As can be seen from fig. 3(a), 3(b), and 4, the detected horizontal information of the target is 272.8 meters in distance, the horizontal azimuth angle is 1.45 °, and the depth of the target after correction is estimated to be 9.95 meters.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (14)

1. A target three-dimensional information measurement method based on a cross array is realized based on the cross array, and the cross array comprises the following steps: the receiving array comprises a horizontal receiving array and a vertical receiving array which share one transmitting array; the method comprises the following steps:
respectively carrying out dynamic focusing beam forming on array element domain echo data of a receiving array to form a horizontal-distance two-dimensional acoustic image and a vertical-distance two-dimensional acoustic image;
performing joint detection on the horizontal-distance two-dimensional acoustic image by adopting the signal amplitude and a target model to obtain target horizontal direction information;
target horizontal information is fused in the vertical-distance two-dimensional acoustic image, and vertical information of a plurality of suspected target points is estimated by adopting energy center and dynamic threshold joint detection; dynamic threshold detection is carried out on a plurality of suspected target points, non-suspected points are removed, and target points are obtained;
estimating the sea surface distribution at the bottom of the sea by combining the pitch angle and the structure of the cross array, and further estimating the depth of the target;
and combining the depth of the target with the horizontal information of the target to obtain the three-dimensional information of the target.
2. The method for measuring the three-dimensional information of the target based on the cross array as claimed in claim 1, wherein the dynamic focusing beam forming is performed on the array element field echo data of the receiving array respectively to form a horizontal-distance two-dimensional acoustic image and a vertical-distance two-dimensional acoustic image; the method specifically comprises the following steps:
the number of the array elements of the horizontal receiving array is MhLinear uniform array with adjacent array elements spaced by a distance dhThe number of the array elements of the vertical receiving array is MvLinear uniform array with adjacent array elements spaced by a distance dvThe received echo signals are x respectivelyh(t) and xv(t) performing dynamic focused reception of pre-multi-beam forming:
wherein,andweighting vectors, theta, for horizontal and vertical receiving matrices, respectivelyiIndicating a multi-beam pointing angle in an angular range [ theta ]min,θmax]，θminIs a minimum angle, θmaxThe angle is the maximum angle, and the angle is the maximum angle,andthe horizontal-distance sonogram data and the vertical-distance sonogram data are respectively formed into a two-dimensional image.
3. The method for measuring the three-dimensional information of the target based on the cross array as claimed in claim 2, wherein the step of jointly detecting the horizontal-distance two-dimensional acoustic map by using the signal amplitude and the target model to obtain the horizontal information of the target specifically comprises the steps of:
calculating the echo signal intensity EL of the target0：
EL0＝SL0-TL0(R0)+TS0
Wherein SL0Is the sound source level of the emitting array; TS (transport stream)0For which the target intensity of the target is detected, the target being at a distance R from the intersecting array0，TL0(R0) Propagation loss as a function of target point distance;
according to the receiving sensitivity of the horizontal receiving array, the voltage V of the target echo signal is calculated0：
V0＝10^((Sh+20log Pa)/20)
Wherein S ishIndicating the receive sensitivity, P, of a horizontal receive arrayaFor receiving a signal EL0Corresponding sound pressure;
according to the gain amplification of the receiving circuit system and the gain of the beam forming, the signal amplitude A of the beam domain target is estimated0；
Signal amplitude A0As a detection threshold, combining the number N of target model pixel points0Realizing dynamic threshold detection of the horizontal array target, thereby estimating and obtaining the horizontal distance position of the targetAnd horizontal angle information
4. The method for measuring the three-dimensional information of the target based on the cross array as claimed in claim 3, wherein the horizontal information of the target is fused in the vertical-distance two-dimensional acoustic map, and the vertical information of a plurality of suspected target points is estimated by adopting the joint detection of an energy center and a dynamic threshold; dynamic threshold detection is carried out on a plurality of suspected target points, non-suspected points are removed, and target points are obtained; the method specifically comprises the following steps:
in a regionInner, r0Calculating the distance direction time resolution ratio tau according to the distance set according to the test application scene, the type of the received signal and the emission pulse width;
selecting an energy estimation interval Td，TdEstimate interval T using energy of 4 τdInterval the distanceIs divided into K energy intervals, and the energy of each interval is expressed as
Wherein, tjIs the starting time of the jth energy interval,the amplitude value of the jth energy interval of the ith beam is vertically;
sorting the energy values of K intervals to obtain the maximum energy value EmaxThe corresponding k-th energy concentration interval is [ t ]k,tk+Td]；
To [ t ]k,tk+Td]The data amplitude values in the interval are averaged to carry out dynamic threshold detection, non-target points in the energy interval are eliminated, and finally the arrival time t of the scattering echoes of the multiple beam targets is estimated by adopting an amplitude-time weighting methoda_m：
Wherein N isbIs the number of horizontal receive beams; thereby estimating the time value t of the suspected target on each beama_mAnd a corresponding amplitude value;
performing dynamic threshold detection on suspected target points of a plurality of beams, taking the number of beams larger than the threshold and the number of beams smaller than the threshold as non-suspected target points, and removing the non-suspected target points to obtain NsEstimating N for each suspected targetsAnd drawing a target point curve in the vertical-distance acoustic diagram by the arrival time value of the suspected target echo and the corresponding beam angle.
5. The method for measuring the three-dimensional information of the target based on the cross array as claimed in claim 4, wherein the estimating the sea surface distribution at the sea bottom and further the depth of the target by combining the pitch angle and the structure of the cross array specifically comprises:
converting the vertical-distance rectangular sonogram data into sector sonogram display data:
wherein rr isvDistance information in a sector acoustic diagram, C is underwater sound velocity, TjIs the acoustic wave propagation time, θu,vIs the angular information, x, in the sector mapuIs the abscissa in the vertical-distance direction rectangular acoustic diagram; u and v are positiveAn integer number;
depth coordinate x of sea surface in sector graphm0And depth coordinate x of the sea floor in the sector mapd0Respectively as follows:
wherein HmThe depth of the cross array from the sea surface; hdThe depth of the cross array from the sea floor is the pitch angle of the cross array matrixφminAnd phimaxRespectively the minimum angle and the maximum angle of the vertical sector graph;
will NsThe arrival time value and the corresponding beam angle of each suspected target echo are converted into the depth of a sector graph
According to the following judgment conditions
xm0＜xsi＜xd0,i＝1,2,3,…,Ns
Further excluding suspected targets outside the sea surface and the sea floor;
and carrying out dynamic threshold detection on the screened suspected target, and estimating the vertical distance and the angle (r) corresponding to the point with the maximum amplitudes0,φs0) And obtaining the depth information of the target according to the triangular geometric relationship of the cross arrayComprises the following steps:
6. the method for measuring three-dimensional information of the target based on the cross array as claimed in claim 5, wherein the estimating the depth of the target further comprises: and correcting the target depth by utilizing the sound ray bending:
according to the vertical information distance and angle (r) of the targets0,φs0) And combining the sound velocity profile to uniformly layer the depth direction and divide the depth into NHLayers, each layer having a depth Δ H;
calculating the propagation time of each layer:
Δtl＝ΔH/cl
wherein, clRepresenting the sound velocity corresponding to the ith gradient layer; l is more than or equal to 1 and less than or equal to NH
The cumulative time t of the propagation times of the layerszComprises the following steps:
when t isz≥2rs0when/C, the number of the corresponding gradient layers is solved to be ns；
The corrected target depthComprises the following steps:
denotes the n-thsThe corresponding speed of sound of the gradient layer,the depth of the target in the water is finally estimated.
7. The method for measuring the three-dimensional information of the target based on the crossbar array according to claim 6, wherein the step of combining the depth of the target with the horizontal information of the target to obtain the three-dimensional information of the target specifically comprises the following steps:
establishing a body coordinate system by taking the cross array as a body, wherein the origin is at the intersection of the horizontal array and the vertical array, the horizontal array is in the x direction towards the right, the vertical array is in the z direction downwards, and the y direction is determined according to a right-hand rule;
then under this coordinate system, the three-dimensional position of the target is:
8. a system for measuring three-dimensional information of an object based on a cross array, the system comprising:
a crossbar array, said crossbar array comprising: the receiving array comprises a horizontal receiving array and a vertical receiving array which share one transmitting array;
the two-dimensional multi-beam image generation module is used for respectively carrying out dynamic focusing beam forming on the array element domain echo data of the receiving array to form a horizontal-distance two-dimensional acoustic image and a vertical-distance two-dimensional acoustic image;
the target horizontal information estimation module is used for carrying out joint detection on the horizontal-distance two-dimensional acoustic image by adopting the signal amplitude and a target model to obtain target horizontal information;
the vertical target point detection module is used for fusing target horizontal information in a vertical-distance two-dimensional acoustic image, and estimating vertical information of a plurality of suspected target points by adopting energy center and dynamic threshold combined detection; dynamic threshold detection is carried out on a plurality of suspected target points, non-suspected points are removed, and target points are obtained;
the depth information estimation module is used for estimating the sea surface distribution at the bottom of the sea by combining the pitch angle and the structure of the cross array so as to estimate the depth of the target;
and the target three-dimensional information calculation module is used for combining the corrected target depth with the target horizontal information to obtain the target three-dimensional information.
9. The system for measuring target three-dimensional information based on the crossbar array according to claim 8, wherein the two-dimensional multi-beam image generation module is implemented by the following processes:
the number of the array elements of the horizontal receiving array is MhLinear uniform array with adjacent array elements spaced by a distance dhThe number of the array elements of the vertical receiving array is MvLinear uniform array with adjacent array elements spaced by a distance dvThe received echo signals are x respectivelyh(t) and xv(t) performing dynamic focused reception of pre-multi-beam forming:
wherein,andweighting vectors, theta, for horizontal and vertical receiving matrices, respectivelyiIndicating a multi-beam pointing angle in an angular range [ theta ]min,θmax]，θminIs a minimum angle, θmaxThe angle is the maximum angle, and the angle is the maximum angle,andthe horizontal-distance sonogram data and the vertical-distance sonogram data are respectively formed into a two-dimensional image.
10. The system for measuring the three-dimensional information of the target based on the crossbar array according to claim 9, wherein the target level information estimation module is implemented by the following steps:
calculating the echo signal intensity EL of the target0：
EL0＝SL0-TL0(R0)+TS0
Wherein SL0Is the sound source level of the emitting array; TS (transport stream)0For which the target intensity of the target is detected, the target being at a distance R from the intersecting array0，TL0(R0) Propagation loss as a function of target point distance;
according to the receiving sensitivity of the horizontal receiving array, the voltage V of the target echo signal is calculated0：
V0＝10^((Sh+20log Pa)/20)
Wherein S ishIndicating the receive sensitivity, P, of a horizontal receive arrayaFor receiving a signal EL0Corresponding sound pressure;
according to the gain amplification of the receiving circuit system and the gain of the beam forming, the signal amplitude A of the beam domain target is estimated0；
Signal amplitude A0As a detection threshold, combining the number N of target model pixel points0Realizing dynamic threshold detection of the horizontal array target, thereby estimating and obtaining the horizontal distance position of the targetAnd horizontal angle information
11. The system of claim 10, wherein the vertical target point detection module comprises: a vertical suspected target detection submodule and a dynamic detection submodule,
the vertical suspected target detection submodule is used for detecting a suspected target on each beam in the vertical direction; the method specifically comprises the following steps:
in a regionInner, r0Calculating the distance direction time resolution ratio tau according to the distance set according to the test application scene, the type of the received signal and the emission pulse width;
selecting an energy estimation interval Td，TdEstimate interval T using energy of 4 τdInterval the distanceIs divided into K energy intervals, and the energy of each interval is expressed as
Wherein, tjIs the starting time of the jth energy interval,the amplitude value of the jth energy interval of the ith beam is vertically;
sorting the energy values of K intervals to obtain the maximum energy value EmaxThe corresponding k-th energy concentration interval is [ t ]k,tk+Td]；
To [ t ]k,tk+Td]The data amplitude values in the interval are averaged to carry out dynamic threshold detection, non-target points in the energy interval are eliminated, and finally the arrival time t of the scattering echoes of the multiple beam targets is estimated by adopting an amplitude-time weighting methoda_m：
Wherein N isbIs the number of horizontal receive beams; thereby estimating the time value t of the suspected target on each beama_mAnd a corresponding amplitude value;
the dynamic detection submodule is used for carrying out dynamic threshold detection on suspected target points of a plurality of beams, taking the number of the beams larger than the threshold and the number of the beams smaller than the threshold as non-suspected target points, and removing the non-suspected target points to obtain NsEstimating N for each suspected targetsAnd drawing a target point curve in the vertical-distance acoustic diagram by the arrival time value of the suspected target echo and the corresponding beam angle.
12. The system for measuring the three-dimensional information of the target based on the crossbar array according to claim 11, wherein the depth information estimation module is implemented by the following steps:
converting the vertical-distance rectangular sonogram data into sector sonogram display data:
wherein rr isvDistance information in a sector acoustic diagram, C is underwater sound velocity, TjIs the acoustic wave propagation time, θu,vIs the angular information, x, in the sector mapuIs the abscissa in the vertical-distance direction rectangular acoustic diagram; u and v are positive integers;
depth coordinate x of sea surface in sector graphm0And depth coordinate x of the sea floor in the sector mapd0Respectively as follows:
wherein HmThe depth of the cross array from the sea surface; hdThe depth of the cross array from the sea floor is the pitch angle of the cross array matrixφminAnd phimaxRespectively the minimum angle and the maximum angle of the vertical sector graph;
will NsThe arrival time value and the corresponding beam angle of each suspected target echo are converted into the depth of a sector graph
According to the following judgment conditions
xm0＜xsi＜xd0,i＝1,2,3,…,Ns
Further excluding suspected targets outside the sea surface and the sea floor;
and carrying out dynamic threshold detection on the screened suspected target, and estimating the vertical distance and the angle (r) corresponding to the point with the maximum amplitudes0,φs0) And obtaining the depth information of the target according to the triangular geometric relationship of the cross arrayComprises the following steps:
13. the method for measuring the three-dimensional information of the target based on the crossbar array according to claim 12, wherein the system further comprises a depth information estimation module, and the method is realized by the following specific processes:
according to the vertical information distance and angle (r) of the targets0,φs0) And combining the sound velocity profile to uniformly layer the depth direction and divide the depth into NHLayers, each layer having a depth Δ H;
calculating the propagation time of each layer:
Δtl＝ΔH/cl
wherein, clRepresenting the sound velocity corresponding to the ith gradient layer; l is more than or equal to 1 and less than or equal to NH
The cumulative time t of the propagation times of the layerszComprises the following steps:
when t isz≥2rs0when/C, the number of the corresponding gradient layers is solved to be ns；
The corrected target depthComprises the following steps:
denotes the n-thsThe corresponding speed of sound of the gradient layer,the depth of the target in the water is finally estimated;
14. the method for measuring the target three-dimensional information based on the crossbar array according to claim 13, wherein the target three-dimensional information calculation module is implemented by the following steps:
establishing a body coordinate system by taking the cross array as a body, wherein the origin is at the intersection of the horizontal array and the vertical array, the horizontal array is in the x direction towards the right, the vertical array is in the z direction downwards, and the y direction is determined according to a right-hand rule;
then under this coordinate system, the three-dimensional position of the target is:
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