CN113109817B - Vector hydrophone deployment depth estimation method - Google Patents
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- 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
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Abstract
The invention discloses a vector hydrophone deployment depth estimation method, which comprises the following steps: receiving broadband sound pressure radiated by a sound source and time domain signals of the vibration velocity of three-component particles, and processing the time domain signals to obtain sound energy flows in the x direction, the y direction and the z direction; estimating the azimuth angle of a sound source by using the sound energy flows in the x direction and the y direction and synthesizing the azimuth angle into a horizontal sound energy flow; estimating the arrival angle of a sound source according to the ratio of the acoustic energy flow in the z direction to the horizontal acoustic energy flow; calculating time delay template values of direct waves and seabed reflected waves corresponding to different vector hydrophone depths under the arrival angle by combining a sound velocity profile according to the estimated value of the arrival angle of the sound source; obtaining estimated arrival time delay values of direct waves and seabed reflected waves; and calculating the difference value between the arrival time delay estimation value and the time delay template value of the direct wave and the seabed reflected wave, and taking the depth corresponding to the time delay template value with the minimum difference value as the vector hydrophone distribution depth estimation value.
Description
Technical Field
The invention relates to the technical field of underwater sound detection and sonar, in particular to a vector hydrophone deployment depth estimation method.
Background
In offshore tests and engineering applications, the actual distribution depth of the vector hydrophone is generally measured by the pressure sensors bound together, but the measurement accuracy is in direct proportion to the depth, and the depth measurement error is large when the vector hydrophone is distributed at a large depth.
The error between the actual laying depth of the vector subsurface buoy system and the measured depth of the pressure sensor can seriously reduce the performance of target detection and positioning.
Disclosure of Invention
In order to avoid the defects of the prior art, the invention provides a vector hydrophone deployment depth estimation method based on a deep sea water ship sound field multi-path arrival structure, and aims to solve the problems that the deployment depth needs to be obtained through pressure sensor measurement, and the error increases along with the increase of the depth.
In order to achieve the purpose, the invention provides a vector hydrophone deployment depth estimation method, which takes a water-surface ship as a sound source and deploys a vector hydrophone submerged buoy system at deep sea great depth, and comprises the following steps:
receiving broadband sound pressure radiated by a sound source and time domain signals of the vibration velocity of three-component particles, and processing the time domain signals to obtain sound energy flows in the x direction, the y direction and the z direction;
estimating the azimuth angle of a sound source by using the sound energy flows in the x direction and the y direction and synthesizing the azimuth angle into a horizontal sound energy flow; estimating the arrival angle of a sound source according to the ratio of the acoustic energy flow in the z direction to the horizontal acoustic energy flow;
calculating time delay template values of direct waves and seabed reflected waves corresponding to different vector hydrophone depths under the arrival angle by combining a sound velocity profile according to the estimated value of the arrival angle of the sound source;
obtaining estimated arrival time delay values of direct waves and seabed reflected waves;
and calculating the difference value between the arrival time delay estimation value and the time delay template value of the direct wave and the seabed reflected wave, and taking the depth corresponding to the time delay template value with the minimum difference value as the vector hydrophone distribution depth estimation value.
As an improvement of the above method, the receiving a broadband sound pressure radiated by a sound source and a time-domain signal of a vibration velocity of a three-component particle, and processing the time-domain signal to obtain sound energy flows in x, y, and z directions specifically includes:
collecting sound pressure time domain signal p (t) and three-component particle vibration velocity time domain signal v emitted by sound sourcex(t)、vy(t) and vz(t), wherein t is time, x, y and z are three mutually perpendicular directions defined inside the single-vector hydrophone, and the z direction is perpendicular to the sea level; the single acquisition length of the signal is 1s-10s, and the sampling rate of the signal is fsThe value range is 100Hz-10 kHz;
sound pressure time domain signal p (t) and three-component particle vibration velocity time domain signal v by using fast Fourier transformx(t)、vy(t) and vz(t) processing to obtain frequency point fiAt the sound pressure signal spectrum P (f)i) Mass point vibration velocity signal in x directionFrequency spectrum Vx(fi) Mass point vibration velocity signal frequency spectrum V in y directiony(fi) And z-direction particle velocity signal spectrum Vz(fi)，i＝1,2,…L，f1And fLThe upper and lower boundaries of the selected frequency range; l is the number of frequency points;
calculating the Acoustic energy flow I in the x, y and z directionsx、IyAnd Iz：
Wherein the superscript denotes a complex conjugate operator, the symbol
Representing the real part of the fetched data.
As an improvement of the above method, the azimuth angle of the sound source is estimated by using the acoustic energy flows in the x direction and the y direction, and the acoustic energy flows are synthesized into a horizontal acoustic energy flow; estimating the arrival angle of a sound source according to the ratio of the acoustic energy flow in the z direction to the horizontal acoustic energy flow; the method specifically comprises the following steps:
calculating the azimuth angle of the sound source according to the sound energy flow in the x direction and the y direction
Synthesizing horizontal acoustic energy flow I from the acoustic energy flow in the x direction and the y direction and the azimuth angle of the sound sourcer：
From horizontal acoustic energy flow IrAnd z-direction acoustic energy flow, and calculating the arrival angle of the sound source
Wherein, the range of the arrival angle of the water surface sound source is 0-90 degrees.
As an improvement of the above method, the time delay template values of the direct wave and the seabed reflected wave corresponding to different vector hydrophone depths under the arrival angle are calculated by combining the sound velocity profile according to the estimated value of the arrival angle of the sound source; the method specifically comprises the following steps:
according to the estimated value of the arrival angle of the sound source
Calculating time delay template values tau of direct waves and seabed reflected waves corresponding to different hydrophone depths under the arrival angle by combining the sound velocity profile c (z)mod(zr)：
Wherein, Delta z is depth interval, and vector hydrophone distribution depth zrThe range is set to H-1000 to H, H is the depth of the sea floor, and n ═ H-zr)/Δz]，[]Is a rounding operation.
As an improvement of the above method, the obtaining of the estimated arrival time delay values of the direct wave and the sea bottom reflected wave specifically includes:
calculating frequency point fiThe intensity spectrum I of the sound field after mean value removal1(fi)：
To I1(fi) Performing spectrum analysis along the frequency axis to obtain an arrival time delay spectrum Q1(τj)，τjIs the arrival delay; arrival time delay profile Q1(τj) The time delay corresponding to the second peak value is the estimated arrival time delay value of the direct wave and the seabed reflected wave
The delay value is related to the hydrophone deployment depth.
As an improvement of the above method, the obtaining of the estimated arrival time delay values of the direct wave and the sea bottom reflected wave specifically includes:
sound pressure time domain signal p (t) and three-component particle vibration velocity time domain signal v emitted from collected sound sourcex(t)、vy(t) and vz(t) carrying out autocorrelation processing on the signal of any channel to obtain an autocorrelation function, wherein the time delay corresponding to a second peak value at the non-zero moment in the autocorrelation function is the arrival time delay estimated value of the direct wave and the seabed reflected wave
As an improvement of the method, the difference between the arrival delay estimation value and the delay template value of the direct wave and the seabed reflected wave is calculated, and the depth corresponding to the delay template value with the minimum difference is used as the vector hydrophone distribution depth estimation value; the method specifically comprises the following steps:
estimating arrival time delay of direct wave and seabed reflected wave
Compared with the time delay template values under different vector hydrophone distribution depths, a depth estimation cost function E (z)r) Comprises the following steps:
the depth corresponding to the maximum value of the cost functionDegree of rotation
Depth estimates are laid for the vector hydrophone, i.e.:
the invention has the advantages that:
the method of the invention utilizes a deep sea sound field multi-path arrival structure to estimate the distribution depth of a vector hydrophone and the arrival angle of a water surface sound source in combination with the sound velocity of the lower layer sea water, and directly calculates two factors of multi-path time delay/frequency interference period template values: the vector hydrophone deployment depth is estimated through the multi-path arrival structure of the deep sea sound field, compared with the traditional pressure sensor measurement, a pressure sensor does not need to be additionally configured, the instrument cost is saved, and the deployment depth estimation precision cannot be increased along with the increase of the depth.
Drawings
FIG. 1 is a schematic diagram of multipath propagation paths of direct waves and sea bottom reflected waves in a deep-sea direct sound area large-depth receiving environment;
FIG. 2(a) is a schematic diagram of arrival angles of various paths in a deep-sea direct sound zone large-depth receiving environment;
FIG. 2(b) is a schematic diagram of arrival times of paths in a deep-sea direct sound zone large-depth receiving environment;
FIG. 3 is a schematic diagram of a simulation environment in an embodiment of the invention;
FIG. 4 is a distance frequency interferogram of sound intensity recorded by a sound pressure channel, the hydrophone deployment depth is 4093m, and the sound source depth is 10m in the embodiment of the invention;
FIG. 5 is a schematic diagram of an intensity spectrum of a sound field received by a hydrophone at a transceiving distance of 10km according to an embodiment of the present invention;
FIG. 6(a) is a schematic diagram of an arrival time spectrum obtained by performing spectrum analysis on a sound field intensity spectrum by using fast Fourier transform in an embodiment of the present invention;
FIG. 6(b) is a schematic diagram of a frequency interference period spectrum obtained by performing spectrum analysis on an intensity spectrum of a sound field by using fast Fourier transform in the embodiment of the present invention;
FIG. 7 is a template value of arrival time difference between a direct wave and a sea bottom reflected wave calculated under different vector hydrophone distribution depths when an arrival angle is 19.7 degrees in the embodiment of the invention;
FIG. 8 is a cost function of vector hydrophone placement depth estimation when the transceiving distance is 10km in the embodiment of the present invention;
FIG. 9(a) is a diagram illustrating the result of spectrum analysis performed by the multiple signal classification algorithm (MUSIC) on the received sound intensities at different distances in FIG. 3 according to an embodiment of the present invention;
FIG. 9(b) is a diagram illustrating the result of performing spectrum analysis by Fast Fourier Transform (FFT) on the received sound intensities at different distances in FIG. 3 according to an embodiment of the present invention;
fig. 10 shows the estimation result of the placement depth of the vector hydrophone at all transceiving distances in the embodiment of the invention.
Detailed Description
The invention provides a vector hydrophone deployment depth estimation method, wherein a sound source is a water surface ship passing through a vector hydrophone deployment area. Firstly, a vector hydrophone submerged buoy system arranged at a deep sea great depth receives broadband sound pressure and three-component particle vibration velocity signals radiated by a surface ship, and time domain signals are processed to obtain sound energy flows in x, y and z directions and a sound field intensity spectrum after mean value removal; estimating the azimuth angle of a water surface sound source by using the sound energy flows in the x direction and the y direction and synthesizing the horizontal sound energy flow; estimating the arrival angle of a water sound source according to the ratio of the vertical sound energy flow (the sound energy flow in the z direction) to the horizontal sound energy flow; performing double spectrum analysis on the sound field intensity spectrum after mean value removal by using a fast Fourier transform or multi-classification spectrum analysis method or performing self-correlation processing on a sound pressure or vibration velocity channel time domain signal to obtain a multi-path arrival time delay or frequency interference period estimation value; calculating multi-path time delay or frequency interference period template values corresponding to different vector hydrophone laying depths under the arrival angle according to the estimated value of the arrival angle of the water surface sound source and the sound velocity profile; and comparing the multi-path time delay or frequency interference period estimated value with template values under different vector hydrophone depths, wherein the depth with the minimum difference value is the vector hydrophone distribution depth estimated value. According to the method, from the propagation angle of a deep-sea sound field, the distribution depth of the vector hydrophone is estimated by utilizing the multi-path arrival structural characteristics of the sound field, the depth estimation error is only proportional to the distance between the distribution depth of the hydrophone and the sea bottom, and the problem that the error is increased along with the increase of the depth when the distribution depth of the vector hydrophone is measured by a pressure sensor in the traditional method is solved.
The technical solution of the present invention will now be further described with reference to the following examples and accompanying drawings:
the invention provides a vector hydrophone deployment depth estimation method, wherein a single vector hydrophone submerged buoy system is deployed at deep sea great depth, receives broadband signals radiated by a surface ship, and realizes estimation of the deployment depth of the vector hydrophone through Fourier transformation, azimuth angle estimation, arrival angle estimation, multi-path time delay/frequency interference period template value calculation and other processing, and the method comprises the following steps:
step 1: the surface vessel enters the receiving range, the horizontal distance between the sound source and the vector hydrophone is 0km-30km, and the depth of the sound source is 0-15m, referring to fig. 1. The signal mainly plays a role in a sound field and comprises four paths of direct waves, sea surface reflected waves, sea bottom reflected waves and sea surface sea bottom reflected waves, wherein the energy of the direct waves and the energy of the sea surface reflected waves are larger than that of the sea bottom reflected waves and the sea surface sea bottom reflected waves. Since the depth of the sound source is shallow, the arrival angles of the two sound field components, namely the direct wave and the sea surface reflected wave, are close, the arrival time is basically the same, the arrival angles of the two sound field components, namely the sea bottom reflected wave and the sea surface sea bottom reflected wave, are similar, and the arrival time is basically the same, referring to fig. 2(a) and 2(b), the sound field components can be approximately seen as two main paths, namely the direct wave and the sea bottom reflected wave. Fig. 3 shows a schematic diagram of the simulation environment and a sound velocity profile of seawater in this embodiment, where the sea depth level is unchanged and the depth is 4193 m. The distribution depth of the vector hydrophone submerged buoy system in simulation is 4093m and the distance from the sea bottom is 100 m. The sound source is a water surface sound source, the depth is 10m, and the frequency of a sound source radiation signal is 100-1600 Hz. In the simulation, the horizontal distance of a sound source is increased from 0.1km to 20km, the distance interval is 0.1km, and the azimuth angle of a water surface sound source is set to be 30 degrees. Fig. 4 shows a distance frequency dimension sound intensity diagram recorded by a sound pressure channel, and because of a multi-path arrival structure of a sound field, an obvious interference structure exists in fig. 4, the sound intensity diagram shows periodic intensity changes along with distance and frequency, and two periods exist in the interference structure, wherein a large interference period mainly comes from interference of a direct wave and a sea surface reflected wave, and a small period comes from interference of the direct wave and a sea bottom reflected wave. In this example, the surface source is 10km from the vector hydrophone.
Step 2: processing the four-component broadband time domain signal acquired by the single-vector hydrophone by using Fast Fourier Transform (FFT) to obtain a frequency point fiFour component signal spectrum P (f) ofi)、Vx(fi)、Vy(fi) And Vz(fi)，i＝1,2,…L，f1And fLIn order to select the upper and lower boundaries of the frequency range, the frequency range selected in this embodiment is 100-1600 Hz;
and step 3: x, Y and the sound energy flow in the Z direction are calculated by the following formula according to the frequency spectrums of the sound pressure and the particle vibration velocity signals,
wherein the superscript denotes a complex conjugate operator, the symbol
Representing the real part of the data; spectrum P (f)i)、Vx(fi)、Vy(fi) And Vz(fi) Are respectively frequency points fiThe frequency spectrum of the sound pressure signal, the frequency spectrum of the mass point vibration velocity in the x direction, the frequency spectrum of the mass point vibration velocity in the y direction and the frequency spectrum of the mass point vibration velocity in the z direction are respectively represented by i 1,2, …, L, wherein L is the total number of frequency points, f1And fLThe upper and lower boundaries of the selected frequency range;
and 4, step 4: calculating the azimuth angle of the water surface sound source by the following formula according to the sound energy flow in the X direction and the Y direction
Estimated surface vessel azimuth of 30 °;
and 5: synthesizing horizontal acoustic energy flow by using the acoustic energy flow in the X and Y directions and the azimuth angle of a water surface sound source according to the following formula:
step 6: calculating the arrival angle of the water surface sound source according to the vertical sound energy flow and the horizontal sound energy flow by using the following formula:
the value range of the arrival angle is 0-90 degrees, and the estimated arrival angle of the water surface sound source is 19.7 degrees;
and 7: the mean value of the sound pressure signal frequency spectrum intensity is removed, the sound field intensity spectrum after mean value removal is obtained by the following formula,
referring to fig. 5, it can be seen that the intensity spectrum of the sound field exhibits obvious periodic intensity variation with frequency, wherein a large interference period mainly comes from interference of direct waves and sea surface reflected waves, and a small period comes from interference of direct waves and sea bottom reflected waves.
To I1(fi) Performing spectrum analysis along the frequency axis to obtain an arrival time delay spectrum Q1(τj)，τjFor time delay of arrival, it is an interval
Internally provided with
Is a sequence of sampling intervals, i.e.
j is the serial number of the sampling point; spectral analysisAdopting a fast Fourier transform method, wherein the result is shown in fig. 6(a), the time delay corresponding to the maximum peak value in the arrival time delay spectrum is 0.004s, which is the arrival time delay estimation value of the direct wave and the sea surface reflected wave, the time delay corresponding to the second maximum peak value is 0.045s, which is the arrival time delay of the direct wave and the sea bottom reflected wave; period f interfered by frequencyperiodRelation to arrival delay fperiod＝1/τjObtaining a frequency interference periodic spectrum
Q2(fperiod)＝Q1(1/fperiod) (6)
Referring to fig. 6(b), the frequency corresponding to the second largest peak in the frequency interference periodic spectrum is 22.2Hz, which is the frequency interference periodic estimation value of the direct wave and the sea bottom reflected wave.
And 8: according to the estimated value of the angle of arrival of the water surface sound source obtained in the step 6
Calculating time delay template values tau corresponding to different vector hydrophone distribution depths under the arrival angle by combining sound velocity profiles c (z)mod(zr) Or frequency interference period template value fmod(zr) Depth z of deployment of vector hydrophonerThe range was set to 3593 and 4193m, and the depth interval was set to 1 m. Time delay template value taumod(zr) The calculation formula is as follows:
the integration is replaced by a summation, i.e.:
the value of the integration interval delta z is less than 0.1, and the number of summation points n is (H-z)r) A,/Δ z; frequency interference period template value fmod(zr) The calculation formula is as follows:
in the formula, the sound velocity c (z) of 3593 and 4193m depth can be obtained by querying a database or calculating by an empirical formula of the sea water sound velocity. FIG. 7 shows the calculated multi-path arrival time difference template values under different assumed vector hydrophone placement depths when the arrival angle is 19.7 degrees, and the values of the dotted line in the figure are the arrival time delays of the direct wave and the sea bottom reflected wave estimated in step 7
0.045s。
And step 9: comparing the multi-path time delay or frequency interference period estimation value with template values under different vector hydrophone distribution depths, and defining a depth estimation cost function as follows:
the depth corresponding to the maximum value of the cost function is the estimated value of the laying depth, namely
s.t.E(zr)＝maxE(zr). Fig. 8 shows the variation of the cost function with the assumed deployment depth, in which the dashed line is the actual depth of the vector hydrophone, and when the surface acoustic source is 10km from the vector hydrophone, the estimated deployment depth of the hydrophone is 4094 m.
The received sound field data of other transceiving distances within the range of 0.1-20km is processed by using the steps, the results of the spectral analysis of the received sound intensities (fig. 4) of all the distances according to the step 7 are shown in fig. 9(a) and fig. 9(b), the multiple signal classification Method (MUSIC) is adopted in the spectral analysis in fig. 9(a), the fast fourier transform method (FFT) is adopted in the spectral analysis in fig. 9(b), and the dotted lines in the figure are the arrival time delay of the direct wave and the sea surface reflected wave, and the arrival time delay of the direct wave and the sea bottom reflected wave calculated by the sound field calculation model Bellhop, so that the multi-path arrival time delay can be well estimated by the step 7. The estimation results of the distribution depth of the vector hydrophones at all the transceiving distances are shown in fig. 10, and the dotted line in the diagram is the actual distribution depth of the vector hydrophone, so that the estimation depth is better consistent with the actual depth, and the relative error of the depth estimation is within 0.3%. Simulation data processing results show that the method can effectively estimate the distribution depth of the vector hydrophone.
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 (6)
1. A method for estimating deployment depth of a vector hydrophone, which takes a water-surface ship as a sound source and deploys a vector hydrophone submerged buoy system at deep sea great depth, comprises the following steps:
receiving broadband sound pressure radiated by a sound source and time domain signals of the vibration velocity of three-component particles, and processing the time domain signals to obtain sound energy flows in the x direction, the y direction and the z direction;
estimating the azimuth angle of a sound source by using the sound energy flows in the x direction and the y direction and synthesizing the azimuth angle into a horizontal sound energy flow; estimating the arrival angle of a sound source according to the ratio of the acoustic energy flow in the z direction to the horizontal acoustic energy flow;
calculating time delay template values of direct waves and seabed reflected waves corresponding to different vector hydrophone depths under the arrival angle by combining a sound velocity profile according to the estimated value of the arrival angle of the sound source;
specifically, the angle of arrival estimation value of the sound source is used
Calculating time delay template values tau of direct waves and seabed reflected waves corresponding to different hydrophone depths under the arrival angle by combining the sound velocity profile c (z)mod(zr)：
WhereinΔ z is the depth interval, vector hydrophone deployment depth zrThe range is set to H-1000 to H, H is the depth of the sea floor, and n ═ H-zr)/Δz]，[]Is a rounding operation;
obtaining estimated arrival time delay values of direct waves and seabed reflected waves;
and calculating the difference value between the arrival time delay estimation value and the time delay template value of the direct wave and the seabed reflected wave, and taking the depth corresponding to the time delay template value with the minimum difference value as the vector hydrophone distribution depth estimation value.
2. The method for estimating the deployment depth of the vector hydrophone according to claim 1, wherein the method for receiving the broadband sound pressure radiated by the sound source and the time-domain signals of the vibration velocities of the three-component particles, and processing the time-domain signals to obtain the sound energy flows in the x, y and z directions comprises:
collecting sound pressure time domain signal p (t) and three-component particle vibration velocity time domain signal v emitted by sound sourcex(t)、vy(t) and vz(t), wherein t is time, x, y and z are three mutually perpendicular directions defined inside the single-vector hydrophone, and the z direction is perpendicular to the sea level; the single acquisition length of the signal is 1s-10s, and the sampling rate of the signal is fsThe value range is 100Hz-10 kHz;
sound pressure time domain signal p (t) and three-component particle vibration velocity time domain signal v by using fast Fourier transformx(t)、vy(t) and vz(t) processing to obtain frequency point fiAt the sound pressure signal spectrum P (f)i) Mass point vibration velocity signal frequency spectrum V in x directionx(fi) Mass point vibration velocity signal frequency spectrum V in y directiony(fi) And z-direction particle velocity signal spectrum Vz(fi)，i＝1,2,…L，f1And fLThe upper and lower boundaries of the selected frequency range; l is the number of frequency points;
calculating the Acoustic energy flow I in the x, y and z directionsx、IyAnd Iz：
Wherein the superscript denotes a complex conjugate operator, the symbol
Representing the real part of the fetched data.
3. The vector hydrophone deployment depth estimation method of claim 2, wherein acoustic energy flows in x-direction and y-direction are used to estimate acoustic source azimuth and combine into horizontal acoustic energy flows; estimating the arrival angle of a sound source according to the ratio of the acoustic energy flow in the z direction to the horizontal acoustic energy flow; the method specifically comprises the following steps:
calculating the azimuth angle of the sound source according to the sound energy flow in the x direction and the y direction
Synthesizing horizontal acoustic energy flow I from the acoustic energy flow in the x direction and the y direction and the azimuth angle of the sound sourcer：
From horizontal acoustic energy flow IrAnd z-direction acoustic energy flow, and calculating the arrival angle of the sound source
Wherein, the range of the arrival angle of the water surface sound source is 0-90 degrees.
4. The vector hydrophone deployment depth estimation method of claim 1, wherein the obtaining of the arrival delay estimation values of the direct wave and the sea-bottom reflected wave specifically comprises:
calculating frequency point fiThe intensity spectrum I of the sound field after mean value removal1(fi)：
To I1(fi) Performing spectrum analysis along the frequency axis to obtain an arrival time delay spectrum Q1(τj)，τjIs the arrival delay; arrival time delay profile Q1(τj) The time delay corresponding to the second peak value is the estimated arrival time delay value of the direct wave and the seabed reflected wave
The time delay value is related to the hydrophone deployment depth; p (f)i) Is a frequency point fiThe acoustic pressure signal spectrum of (d); and L is the number of frequency points.
5. The vector hydrophone deployment depth estimation method of claim 1, wherein the obtaining of the arrival delay estimation values of the direct wave and the sea-bottom reflected wave specifically comprises:
sound pressure time domain signal p (t) and three-component particle vibration velocity time domain signal v emitted from collected sound sourcex(t)、vy(t) and vz(t) carrying out autocorrelation processing on the signal of any channel to obtain an autocorrelation function, wherein the time delay corresponding to a second peak value at the non-zero moment in the autocorrelation function is a direct wave andestimate of time delay of arrival of a reflected wave from the sea floor
6. The vector hydrophone deployment depth estimation method according to claim 4 or 5, wherein the difference between the arrival delay estimation value and the delay template value of the direct wave and the sea bottom reflected wave is calculated, and the depth corresponding to the delay template value with the smallest difference is used as the vector hydrophone deployment depth estimation value; the method specifically comprises the following steps:
estimating arrival time delay of direct wave and seabed reflected wave
Compared with the time delay template values under different vector hydrophone distribution depths, a depth estimation cost function E (z)r) Comprises the following steps:
the depth corresponding to the maximum value of the cost function
Depth estimates are laid for the vector hydrophone, i.e.:
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