CN113495275A - Passive positioning method, system and application for vertical synthetic aperture of single hydrophone - Google Patents
Passive positioning method, system and application for vertical synthetic aperture of single hydrophone Download PDFInfo
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Abstract
The invention belongs to the technical field of underwater target detection, and discloses a passive positioning method, a passive positioning system and an application of a vertical synthetic aperture of a single hydrophone, wherein a single hydrophone synthetic vertical aperture strategy and a sound field model are constructed; defining a speed cost function, and estimating the radial motion speed of the target; defining a distance-depth ambiguity function, and predicting the distance and the depth of a target; and defining a distance cost function, improving the target distance and the depth estimation precision, and obtaining the optimal target position. Aiming at the problems of high design complexity, difficult arrangement, difficult posture control and the like of a long-aperture vertical array, the invention utilizes a single vertical motion hydrophone to realize the synthetic aperture of the vertical array and combines a vertical array matching field passive positioning method to estimate the position and the motion speed of an underwater target; on the premise of reducing the complexity of system design and layout, the method gives full play to the advantages of vertical array target detection, provides a new idea for detecting targets by an underwater motion platform, and provides technical support for improving the detection capability of the motion platform.
Description
Technical Field
The invention belongs to the technical field of underwater target detection, and particularly relates to a passive positioning method, a passive positioning system and application of a vertical synthetic aperture of a single hydrophone.
Background
At present, target radiation noise in water is mostly concentrated in a low frequency band, the wavelength of sound waves is long, and the sonar aperture is required to be higher no matter the target direction resolution capability or the target positioning precision is achieved. Compared with a single hydrophone or a short-aperture array, the long-array sonar system has obviously improved design complexity and engineering layout difficulty, so that the synthetic-aperture sonar passive detection technology based on the single hydrophone or the short-array is widely applied to underwater acoustic countermeasure and target detection positioning.
The scholars at home and abroad also make a great deal of theoretical and experimental research on the vertical-array-based matching field passive positioning method, and research results show that: vertical arrays have certain advantages over horizontal arrays in low frequency target detection and localization. However, in practical application, the vertical array has great disadvantages in terms of arrangement and attitude control, and particularly for a motion carrier and in a deep sea environment, the effective aperture of the vertical array is difficult to guarantee.
(1) The design complexity of the long hole diameter vertical array is high, and the engineering practicability is poor
The long-aperture vertical array has the problems of high design complexity, difficult arrangement, difficult posture control and the like, and particularly for a motion carrier, the arrangement of the long-aperture vertical array is almost impossible, so that the application of the vertical array is limited. The synthetic aperture of the single hydrophone can simplify the design complexity of the system and improve the maneuverability and flexibility of the detection system.
(2) Lack of effective vertical array synthesis technology for underwater motion detection platform
At present, a distributed detection mode based on a small motion platform is widely concerned and applied, information transmission is needed for multi-platform cooperation, and the detection capability of a single platform is limited. In order to improve the detection capability of a single platform, a vertical synthetic aperture technical study based on a vertical motion single platform is necessary to be developed, and the advantages of a vertical array in underwater target detection application are fully exerted.
At present, underwater motion small platforms such as an underwater glider, a UUV, a wave glider, a submerged buoy system and the like are widely applied to the field of underwater target detection, the advantages of array processing in acoustic detection are fully developed through a vertical synthetic aperture technology by utilizing vertical movement information of the underwater motion detection platform and acoustic data acquired in the movement process, a new detection means is provided for the motion small platforms, and then the acoustic detection capability of the motion platforms is improved.
Although horizontal synthetic aperture techniques and their corresponding localization methods are relatively mature, vertical synthetic aperture localization methods are currently less publicly reported. Therefore, the vertical synthetic aperture also provides a new idea for the underwater motion platform to detect the underwater target.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the long-aperture vertical array has the problems of high design complexity, difficult arrangement, difficult posture control and the like, and particularly for a motion carrier, the arrangement of the long-aperture vertical array is almost impossible, so that the application of the vertical array is limited.
(2) An underwater motion detection platform lacks an effective vertical array synthesis technology, multiple platforms need information transmission in cooperation, and the detection capability of a single platform is limited.
(3) There are few published reports on the vertical synthetic aperture localization method.
The difficulty in solving the above problems and defects is:
(1) the motion platform can not carry the vertical array, and the vertical array can only work with latent buoy and fixed platform mode, and the motion platform is the main carrier of sonar system, and motion platform vertical array detection technique needs a new way.
(2) At present, the synthetic aperture technology is mostly used in the horizontal direction, and the vertical synthetic aperture technology for the underwater motion platform is in urgent need of development.
(3) A method for designing a vertical synthetic aperture of a single hydrophone matched with a mode base is used for realizing a 1+ 2-dimensional parameter estimation algorithm of speed, distance and depth, which is the key for realizing passive positioning.
The significance of solving the problems and the defects is as follows:
(1) on the premise of reducing the design and layout complexity of a vertical array system, the method fully exerts the advantages of vertical array target detection and is suitable for various platforms such as UUV, AUV, glider and the like.
(2) The method conforms to the development trend of the existing small platform detection technology, provides a new detection means for the small moving platform, and provides technical support for improving the detection capability of a single underwater small platform.
(3) The vertical synthetic aperture processing of the single hydrophone can effectively reduce the information transmission quantity and reduce the data communication pressure for multi-platform cooperation.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a passive positioning method, a passive positioning system and an application of a vertical synthetic aperture of a single hydrophone, and aims to solve the problems of high design complexity, difficulty in laying and arrangement, difficulty in posture control and the like of a long aperture vertical array.
The invention is realized in such a way that a passive positioning method for a vertical synthetic aperture of a single hydrophone comprises the following steps:
firstly, constructing a single hydrophone synthetic vertical aperture strategy and a sound field model; and providing a theoretical basis of passive positioning of the vertical synthetic aperture of the single hydrophone and a forward sound field model of matching processing.
Step two, defining a speed cost function and estimating the radial movement speed of the target; through measurement environment data and acoustic field model calculation, target motion information is obtained by using a mode-based matching and optimizing algorithm, and prior information is provided for target distance-depth estimation.
Step three, defining a distance-depth ambiguity function, and predicting the distance and the depth of the target; on the premise of knowing the radial motion speed, the fuzzy function of the estimated target distance and depth is provided by combining the traditional matching field processing thought, and the method is the premise of accurately estimating the target position in the next step.
Step four, defining a distance estimation cost function, improving the target distance estimation precision and obtaining an optimal target position estimation result; and further defining a distance estimation cost function by using the target distance-depth ambiguity function, reducing side lobe and multivalue influence, improving distance estimation precision and giving an optimal target position estimation result.
Further, in the step one, the constructing of the single hydrophone synthetic vertical aperture strategy and the sound field model includes:
assuming that the target does uniform motion along the direction of an included angle theta between the target and a horizontal connecting line of the hydrophone, wherein the velocity is V, the radial motion velocity V is Vcos theta, and the target radiates a simple harmonic signal with the circular frequency omega; the omnidirectional hydrophone moves at a constant speed in the depth direction, and the moving speed is u. The depth of the hydrophone at time 0 is z0The sea floor depth H moved at time T. With the hydrophone at time 0 as the reference point, let the unknown horizontal distance of the target be r0Target depth is zsThe geometric equivalence is that the target is static, the vertical motion speed of the hydrophone is u, and the horizontal motion speed is-v.
If the marine environment information is known, the eigenwave number k of the normal wave is calculatednAnd eigenfunction phin(z) the hydrophone is in T ∈ [0, T ∈]The sound pressure analytic signal received in time is:
wherein,
if the moving target is used as a reference point, the moving tracks of the hydrophones can be synthesized into an inclined linear array, the horizontal distance of the array elements is delta R-vcos theta delta t, the vertical distance is delta Z-u delta t, and delta t is the vertical array synthesis sampling time. The nth equivalent array element, that is, the signal received at the nth sampling time, is:
further, the marine environment information acquisition method comprises the following steps: a temperature pressure sensor is attached during the lowering of the hydrophone and measures the temperature profile and the actual depth of the hydrophone at different times.
Further, in step two, the estimating of the target radial motion velocity includes:
similarly to the weighted wave number forming process, a target moving velocity section V' e [ V ] is set1,V2]In exp (-ik)mv't) is the eigenfunction phi of the ' steering ' vector, No. m normal wavem(z0+ ut) is a weighted vector as follows:
in the formula (3), the time step is to satisfy v Δ t < λ, that is, the horizontal spacing of the synthetic aperture is smaller than the wavelength of the sound wave. Without loss of generality, let z0And H is the depth of the water body.
As can be seen from the orthogonality of the normal wave, | F when n ═ m and v ═ vmTaking the maximum value.
Defining a cost function for determining the speed of movement of the object:
the maximum value of the cost function corresponds to an estimate of the target radial travel velocity:
further, in step three, the defining a distance-depth ambiguity function includes:
writing the formula (3) as a matrix form:
F＝MS (6)
wherein,
F＝[F1(v),F1(v),......,FN(v)]T；
then there are:
S＝M-1F (8)
the ambiguity function that defines the estimated target distance and depth (r-z) is defined as:
substituting equation (7) into equation (9), when r equals r0, the ambiguity function can be approximately expressed as:
the distance and the depth corresponding to the maximum value of the ambiguity function RD are the target distance and the depth:
further, in step four, the defining the distance estimation cost function includes:
similar to the matching field processing method, the sound source position is estimated by using the formula (11), a plurality of maximum values appear in an r-z ambiguity plane, and in order to better judge the real position, the normalized cost function | RD (r, z) | is as follows:
defining a distance cost function, and inspecting the accuracy of depth estimation at different distances:
wherein,
the estimated value of the distance is:
the optimal target position estimation result is:
(rs,zs)＝(rmax,zmax(rmax)) (15)
another object of the present invention is to provide a passive positioning system for vertical synthetic aperture of single hydrophone, which applies the passive positioning method for vertical synthetic aperture of single hydrophone, and the passive positioning system for vertical synthetic aperture of single hydrophone includes:
the model building module is used for building a single hydrophone synthetic vertical aperture strategy and a sound field model;
the motion speed estimation module is used for estimating the radial motion speed of the target by defining a speed estimation cost function;
the target position pre-estimation module is used for pre-estimating the target distance and depth by defining a distance-depth ambiguity function;
and the target position estimation module is used for improving the target distance and depth estimation precision by defining a distance estimation cost function to obtain an optimal target position estimation result.
It is a further object of the invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
(1) constructing a single hydrophone synthetic vertical aperture strategy and a sound field model;
(2) defining a speed estimation cost function, and estimating the radial movement speed of the target;
(3) defining a distance-depth ambiguity function, and predicting the distance and the depth of a target;
(4) and defining a distance estimation cost function, improving the target distance and depth estimation precision, and obtaining the optimal target position.
It is another object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
(1) constructing a single hydrophone synthetic vertical aperture strategy and a sound field model;
(2) defining a speed estimation cost function, and estimating the radial movement speed of the target;
(3) defining a distance-depth ambiguity function, and predicting the distance and the depth of a target;
(4) and defining a distance estimation cost function, improving the target distance and depth estimation precision, and obtaining the optimal target position.
Another objective of the present invention is to provide an information data processing terminal, where the information data processing terminal is used to implement the passive positioning system for vertical synthetic aperture of single hydrophone.
By combining all the technical schemes, the invention has the advantages and positive effects that: theoretical and experimental researches show that the passive positioning technology based on the vertical array has certain advantages in passive detection and positioning of low-frequency underwater acoustic targets. Aiming at the problems of high design complexity, difficult arrangement, difficult posture control and the like of the long-aperture vertical array, the invention utilizes a single hydrophone which moves vertically to realize the synthetic aperture of the vertical array, and combines a vertical array matching field passive positioning method to estimate the information of the position, the movement speed and the like of an underwater target. The invention fully exerts the advantages of vertical array target detection under the precondition of reducing the complexity of system design and layout, provides a new idea for detecting targets by the underwater motion platform and provides technical support for improving the detection capability of the motion platform. Meanwhile, the passive positioning method for the vertical synthetic aperture of the single hydrophone, provided by the invention, has the following effects:
(1) the system design complexity is low
The passive positioning system based on the synthetic aperture of the single hydrophone vertical array has low design complexity, and compared with a long aperture vertical array detection system, the method only needs one hydrophone or a short base array formed by a plurality of hydrophones.
(2) Is suitable for various mounting platforms
The vertical array synthetic aperture works with a pressure sensor and a carrier hydrographic winch (or other crane). The system comprises a shipborne winch, an underwater unmanned motion platform and a submerged buoy system.
(3) Detection mode diversification
The system can work in a single base and can also work in a distributed mode. No matter in a ship-borne mode, or an underwater unmanned platform or submerged buoy system, a multi-platform cooperation mode can be realized, the system is suitable for large-range distributed detection, and the maneuverability and flexibility of the detection system are greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a passive positioning method for a vertical synthetic aperture of a single hydrophone according to an embodiment of the present invention.
Fig. 2 is a block diagram of a vertical synthetic aperture passive positioning system for a single hydrophone according to an embodiment of the present invention;
in the figure: 1. a model building module; 2. a motion velocity estimation module; 3. a target parameter calculation module; 4. A target location estimation module.
Fig. 3 is a schematic diagram of a single hydrophone vertical array synthetic aperture according to an embodiment of the present invention.
Fig. 3(a) is a schematic diagram that a target makes a uniform linear motion along an included angle θ between the target and a hydrophone in a direction of a depth while the target moves, according to an embodiment of the present invention, and the hydrophone makes a uniform linear motion along a direction of a depth while the target moves.
Fig. 3(b) is a schematic diagram of a synthetic aperture provided by an embodiment of the present invention, and assuming that a target is fixed, an inclined linear array can be synthesized according to the depth of the hydrophone and the distance from the target at different times, where the array elements are horizontally spaced by Δ R ═ v Δ t, vertically spaced by Δ Z ═ u Δ t, and Δ t is the synthetic aperture sampling time.
FIG. 4 is a top view of the relative position and motion of a target and hydrophones provided by an embodiment of the present invention.
FIG. 5 is a diagram illustrating the estimation result of the target radial velocity (velocity 5m/s) according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of the target distance-depth estimation result provided by the embodiment of the present invention (distance 6km, depth 30 m).
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a method, a system and an application for passively positioning a vertical synthetic aperture of a single hydrophone, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a method for passively positioning a vertical synthetic aperture of a single hydrophone according to an embodiment of the present invention includes the following steps:
s101, constructing a single hydrophone synthetic vertical aperture strategy and a sound field model;
s102, defining a speed estimation cost function, and estimating the radial motion speed of the target;
s103, defining a distance-depth ambiguity function, and predicting the distance and the depth of the target;
and S104, defining a distance estimation cost function, improving the distance and depth estimation precision, and obtaining an optimal target position estimation result.
As shown in fig. 2, a vertical synthetic aperture passive positioning system for a single hydrophone provided in an embodiment of the present invention includes:
the model building module 1 is used for building a single hydrophone synthetic vertical aperture strategy and a sound field model;
the motion velocity estimation module 2 is used for estimating the radial motion velocity of the target by defining a velocity estimation cost function;
the target parameter calculation module 3 is used for predicting the target distance and depth by defining a distance-depth ambiguity function;
and the target position estimation module 4 is used for improving the distance and depth estimation precision by defining a distance estimation cost function to obtain an optimal target position estimation result.
The technical solution of the present invention will be further described with reference to the following examples.
Example 1
Theoretical and experimental researches show that the passive positioning technology based on the vertical array has certain advantages in passive detection and positioning of the low-frequency underwater acoustic target. Aiming at the problems of high design complexity, difficult arrangement, difficult posture control and the like of a long-aperture vertical array, the vertical array synthetic aperture is realized by utilizing a single hydrophone which moves vertically, and information such as the position, the movement speed and the like of an underwater target is estimated by combining a vertical array matching field passive positioning method. On the premise of reducing the complexity of system design and layout, the method gives full play to the advantages of vertical array target detection, provides a new idea for detecting targets by the underwater motion platform, and provides technical support for improving the detection capability of the motion platform.
The passive positioning method for the vertical synthetic aperture of the single hydrophone, provided by the embodiment of the invention, comprises the following steps:
step 1: single hydrophone synthetic vertical aperture strategy and sound field model
In order to simplify the vertical synthetic aperture model, the horizontal invariant layered dielectric waveguide is considered here, and the basic principle of vertical synthetic aperture is analyzed and discussed using the simple wave method. Assuming that a target does uniform motion along an included angle theta direction between the target and a horizontal connecting line of the hydrophone, the speed is V, the radial motion speed V is Vcos theta, and the target radiates a simple harmonic signal with the circular frequency omega; the omnidirectional hydrophone moves at a constant speed in the depth direction, and the moving speed is u. The depth of the hydrophone at time 0 is z0Sea bottom moving at time TAnd a depth H. Let the unknown horizontal distance of the target (with the hydrophone at time 0 as the reference point) be r0Target depth is zsAs shown in fig. 3 (a). This is geometrically approximately equivalent to the goal being stationary, with the hydrophone moving vertically at u and horizontally at-v, as shown in FIG. 3 (b). FIG. 4 is a top view of the relationship of the target and hydrophone positions.
If the marine environment information is known (temperature and pressure sensors can be attached during the hydrophone lowering, the temperature profile and the actual depth of the hydrophone at different times are measured), the eigenwave number k of the normal wave can be calculatednAnd eigenfunction phin(z) the hydrophone is in T ∈ [0, T ∈]The sound pressure analytic signal received in time is:
wherein,
if the moving target is used as a reference point, the moving tracks of the hydrophones can be synthesized into an inclined linear array, the horizontal spacing of the array elements is Δ R ═ vcos θ Δ t, the vertical spacing is Δ Z ═ u Δ t, and Δ t is the vertical array synthesis sampling time, as shown in fig. 3 (b). The signal received by the nth equivalent array element (nth sampling time) is:
step 2: target radial motion speed estimation method
Similarly to the weighted wave number forming process, a target moving velocity section V' e [ V ] is set1,V2]In exp (-ik)mv't) is the eigenfunction phi of the ' steering ' vector, No. m normal wavem(z0+ ut) is a weighted vector as follows:
in order to prevent grating lobes, the time step is required to satisfy v Δ t < λ in formula (3), i.e., the horizontal spacing of the synthetic aperture is smaller than the wavelength of the acoustic wave. Without loss of generality, let z0And H is the depth of the water body.
As can be seen from the orthogonality of the normal wave, | F when n ═ m and v ═ vmTaking the maximum value. Defining a cost function for determining the speed of movement of the object:
the maximum value of the cost function corresponds to an estimate of the target radial travel velocity:
and step 3: distance-depth ambiguity function
Writing the formula (3) as a matrix form:
F＝MS (6)
wherein,
F＝[F1(v),F1(v),......,FN(v)]T；
then there are:
S＝M-1F (8)
the ambiguity function that defines the estimated target distance and depth (r-z) is defined as:
substituting equation (7) into equation (9), when r equals r0, the ambiguity function can be approximately expressed as:
and the distance and the depth corresponding to the maximum value of the ambiguity function RD are the target distance and the depth.
And 4, step 4: distance estimation cost function
Similar to the matching field processing method, the sound source position is estimated by using the formula (11), a plurality of maximum values appear in an r-z ambiguity plane, and in order to better judge the real position, the normalized cost function | RD (r, z) | is as follows:
to investigate the accuracy of depth estimation at different distances, a distance cost function is defined:
wherein
The estimated value of the distance is:
the optimal target position estimation result is:
(rs,zs)＝(rmax,zmax(rmax)) (15)
example 2: simulation example
The simulation environment is Pekeris waveguide, the water body is uniform, the depth is 60m, the sound velocity is 1500m/s, and the density is 1.024g/cm3(ii) a The seabed is a liquid semi-infinite space with a density of 1.7g/cm3The sound velocity is 1650m/s, and the attenuation coefficient is 0.3 dB/lambda. The sound source has a frequency of 1000Hz, and the frequency of the sound source is 15 th order normal waves of propagation modes. Setting the target depth to be 30m, enabling the target to radially move at a constant speed along a target-hydrophone connecting line, wherein the speed v is 5m/s, the vertical moving speed u of the hydrophone is 1m/s, and the initial distance r 06 km. Target moving speed search interval [0m/s,10m/s]At an interval of 0.5 m/s. In order to prevent grating lobes from occurring, in the formula (2), when the numerical integration is performed, the time step needs to satisfy v Δ t < λ, that is, the horizontal spacing of the synthetic aperture is smaller than the wavelength of the acoustic wave, in this example, Δ t is made to be 0.1s, and in general, the sampling time interval of the experimental data is much smaller than 0.1s, so that the condition of suppressing grating lobes is satisfied.
FIG. 5 shows the result of estimating the target radial motion velocity using equation (5); fig. 6 shows the result of the target range-depth ambiguity function estimated by equation (11), with the maximum values corresponding to a range and a depth of 6km and 30m, respectively.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, is implemented in a computer program product that includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the invention may be generated in whole or in part when the computer program instructions are loaded or executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed in the present invention should be covered within the scope of the present invention.
Claims (10)
1. A passive positioning method for a vertical synthetic aperture of a single hydrophone is characterized by comprising the following steps:
constructing a single hydrophone synthetic vertical aperture strategy and a sound field model;
defining a speed estimation cost function, and estimating the radial movement speed of the target;
defining a distance-depth ambiguity function, and predicting the distance and the depth of a target;
and defining a distance estimation cost function, improving the target distance and depth estimation precision, and obtaining the optimal target position.
2. The method for passively positioning a single hydrophone vertical synthetic aperture according to claim 1, wherein the constructing a single hydrophone synthetic vertical aperture strategy and sound field model comprises: the target moves at a constant speed along the direction of an included angle theta between the target and a horizontal connecting line of the hydrophone, the speed is V, the radial movement speed V is Vcos theta, and the target radiates simple harmonic signals with the circular frequency omega; the omnidirectional hydrophone moves at a constant speed in the depth direction, and the moving speed is u; the depth of the hydrophone at time 0 is z0Moving at time TThe depth of the sea floor H; with the hydrophone at time 0 as the reference point, let the unknown horizontal distance of the target be r0Target depth is zsThe approximate geometric equivalence is that the target is static, the vertical motion speed of the hydrophone is u, and the horizontal motion speed is-v;
if the marine environment information is known, the eigenwave number k of the normal wave is calculatednAnd eigenfunction phin(z) the hydrophone is in T ∈ [0, T ∈]The sound pressure analytic signal received in time is:
wherein,
if the moving track of the hydrophone is taken as a reference point, synthesizing an inclined linear array by using the moving track of the hydrophone, wherein the horizontal interval of array elements is delta R-vcos theta delta t, the vertical interval is delta Z-u delta t, and delta t is the vertical array synthesis sampling time; the nth equivalent array element, that is, the signal received at the nth sampling time, is:
3. the single hydrophone vertical synthetic aperture passive localization method of claim 2, wherein the marine environment information is obtained by: a temperature and pressure sensor is attached during the lowering of the hydrophone and measures the temperature profile and the actual depth of the hydrophone at different times.
4. The single hydrophone vertical synthetic aperture passive localization method of claim 1, wherein the target radial motion velocity estimation comprises: target moving speed interval V' epsilon [ V ∈1,V2]In exp (-ik)mv't) is the "steering" vector, No. mEigenfunction phi of normal wavem(z0+ ut) is a weighted vector as follows:
during numerical integration, the time step length needs to satisfy v delta t < lambda, namely the horizontal spacing of the synthetic aperture is smaller than the wavelength of the sound wave; without loss of generality, let z00, uT-H, and H is the depth of the water body;
as can be seen from the orthogonality of the normal wave, | F when n ═ m and v ═ vmTaking the maximum value, |;
defining a cost function for determining the speed of movement of the object:
the maximum value of the cost function corresponds to an estimate of the target radial travel velocity:
5. the single hydrophone vertical synthetic aperture passive localization method of claim 1, wherein said defining a distance-depth ambiguity function comprises:
handle type
Writing a matrix form:
F＝MS；
wherein,
F＝[F1(v),F1(v),......,FN(v)]T；
then there are:
S＝M-1F；
the ambiguity function that defines the estimated target distance and depth (r-z) is defined as:
handle formula F ═ F1(v),F1(v),......,FN(v)]TSubstituted type
When r is r0The ambiguity function is approximately expressed as:
the distance and the depth corresponding to the maximum value of the ambiguity function RD are the target distance and the depth:
6. the single hydrophone vertical synthetic aperture passive localization method of claim 1, wherein in step four, said defining a distance estimation cost function comprises:
similar to the matching field processing method, using
Estimating the position of the sound source, multiple maxima appearing in the r-z ambiguity plane, for increasing the distance sumDepth estimation accuracy, the normalized cost function | RD (r, z) | is:
defining a distance cost function, and inspecting the accuracy of depth estimation at different distances:
wherein,
the estimated value of the distance is:
the optimal target position estimation result is:
(rs,zs)＝(rmax,zmax(rmax))。
7. a single-hydrophone vertical synthetic aperture passive positioning system for implementing the single-hydrophone vertical synthetic aperture passive positioning method as recited in any one of claims 1 to 6, wherein the single-hydrophone vertical synthetic aperture passive positioning system comprises:
the model building module is used for building a single hydrophone synthetic vertical aperture strategy and a sound field model;
the motion speed estimation module is used for estimating the radial motion speed of the target by defining a speed estimation cost function;
the target position pre-estimation module is used for pre-estimating the target distance and depth by defining a distance-depth ambiguity function;
and the target position estimation module is used for improving the target distance and the depth estimation precision by defining a distance estimation cost function to obtain an optimal target position estimation result.
8. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of:
(1) constructing a single hydrophone synthetic vertical aperture strategy and a sound field model;
(2) defining a speed estimation cost function, and estimating the radial movement speed of the target;
(3) defining a distance-depth ambiguity function, and predicting the distance and the depth of a target;
(4) and defining a distance estimation cost function, improving the target distance and depth estimation precision, and obtaining the optimal target position.
9. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
(1) constructing a single hydrophone synthetic vertical aperture strategy and a sound field model;
(2) defining a speed estimation cost function, and estimating the radial movement speed of the target;
(3) defining a distance-depth ambiguity function, and predicting the distance and the depth of a target;
(4) and defining a distance estimation cost function, improving the target distance and depth estimation precision, and obtaining the optimal target position.
10. An information data processing terminal, characterized in that the information data processing terminal is configured to implement the single hydrophone vertical synthetic aperture passive positioning system of claim 7.
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