CN115825964A - Underwater target detection method and system based on microwave water surface vibration sensing - Google Patents
Underwater target detection method and system based on microwave water surface vibration sensing Download PDFInfo
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Abstract
The invention provides an underwater target detection method based on microwave water surface vibration sensing, which comprises the following steps: step S1: driving a microwave transceiver to sense water surface vibration through a carrying platform, and extracting water surface vibration information generated by underwater target underwater sound excitation; step S2: eliminating wave motion information and carrying platform motion information; and step S3: analyzing water surface vibration information generated by underwater target underwater acoustic excitation, and positioning the water surface vibration information to a target water area; and step S4: and detecting and positioning the target, and calculating the depth. The invention provides an underwater target detection method and system based on microwave water surface vibration sensing. The underwater target detection method solves the problems that maneuvering detection, remote detection, accurate target positioning and the like are difficult to realize in the existing underwater target detection method, and simultaneously solves the problems that the existing active sonar system is large in power and size, and passive sonar seriously depends on high and new materials and processes.
Description
Technical Field
The invention relates to the technical field of underwater target detection, in particular to an underwater target detection method and system based on microwave water surface vibration sensing.
Background
The underwater target detection is an important common application requirement in the fields of underwater environment perception, ocean resource monitoring and development and the like. At present, the detection of underwater targets mainly comprises optical detection and acoustic detection.
Optical detection mainly utilizes an imaging method to identify targets, however, light waves are exponentially attenuated underwater, and the detection distance is very limited. The acoustic detection mainly utilizes the characteristics of sound transmission and reflection under water, including active sonar and passive sonar. The active sonar is large in power and size, the passive sonar needs to be arranged in advance, the low-frequency sensing capability is weak, and the detection range is limited. In addition, the existing sonar detection modes have the problems of poor maneuverability, difficulty in detection of depth information and the like.
Optical-based underwater target detection: the light wave is exponentially attenuated under water, and the detection distance is limited. Acoustic-based underwater target detection: the active sonar is large in power and size, the passive sonar needs to be arranged in advance, the low-frequency sensing capability is weak, and the detection range is limited. In addition, the existing sonar detection modes have the problems of poor maneuverability, difficulty in detection of depth information and the like.
The invention provides an underwater target detection method and system based on microwave water surface vibration sensing, which utilize a microwave transceiver and a carrying platform to quickly detect and position an underwater target. The system solves the problems of low-frequency detection, maneuvering detection and long-distance detection which are difficult to realize in the existing underwater target detection, and solves the problems that an active sonar system is large in power and volume and a passive sonar system depends on high and new materials and processes seriously.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an underwater target detection method and system based on microwave water surface vibration sensing.
The invention provides an underwater target detection method based on microwave water surface vibration sensing, which comprises the following steps:
step S1: driving a microwave transceiver to sense water surface vibration through a carrying platform, and extracting water surface vibration information generated by underwater target underwater sound excitation;
step S2: eliminating wave motion information and carrying platform motion information;
and step S3: analyzing water surface vibration information generated by underwater target underwater acoustic excitation, and positioning the water surface vibration information to a target water area;
and step S4: and detecting and positioning the target, and calculating the depth.
Preferably, in the step S1:
the method comprises the following steps that the microwave interference radar is utilized to sense water surface vibration generated by underwater target underwater acoustic excitation, the carrying platform carries the microwave interference radar, a transmitting antenna of the microwave interference radar faces the target water surface, the microwave interference radar is controlled to transmit microwave signals to be incident on the water surface to be detected, the microwave transceiver obtains baseband signals by transmitting and receiving the microwave signals, the method including arc tangent demodulation is used for a single-frequency continuous wave radar, and the fluctuation displacement information x (t) of the water surface is inverted by an interference phase evolution tracking method for a frequency modulation continuous wave radar:
wherein lambda is the wavelength of the microwave signal,
extracting interference phase evolution information, wherein t is time;
the microwave transceiver includes: the device comprises a continuous wave microwave signal source, a power divider, a power amplifier, a mixer, a low-pass filter, a conditioning circuit, a transmitting-receiving antenna and a processor;
the continuous wave microwave signal source is used for transmitting continuous wave microwave signals, the continuous wave microwave signal source is divided into two paths through the power divider, the two paths are transmitted by the transmitting antenna through the power amplifier, one path is input into the frequency mixer and is subjected to frequency mixing processing with reflected signals received by the receiving antenna, the frequency mixer is connected with the low-pass filter, the frequency mixed signals are input into the low-pass filter, and the low-pass filter is connected with the conditioning circuit to finally generate baseband signals of the microwave transceiver;
the receiving and transmitting antenna comprises a transmitting antenna and a receiving antenna, and the number of the transmitting antenna and the receiving antenna is at least 1.
Preferably, in the step S2:
according to the sea surface wave frequency range, eliminating ultralow frequency wave motion components in the water surface fluctuation displacement information by using a processing method including high-pass filtering;
the vibration interference component of the body of the mobile body is eliminated by combining the motion information of the carrying platform through a method including a vibration isolation cradle head and software algorithm filtering, and the influence of the self vibration of the carrying platform is avoided.
Preferably, in the step S3:
analyzing water surface vibration information generated by underwater target underwater acoustic excitation, positioning a target water area by combining position information of a carrying platform and calculating target depth, and specifically operating as follows:
extracting water surface vibration information delta (t) generated by underwater target underwater acoustic excitation, and analyzing the water surface micro-amplitude vibration information for a period of time by using methods including fast Fourier transform, short-time Fourier transform and wavelet transform to obtain the frequency omega (t) of the water surface micro-amplitude vibration;
comparing the frequency omega (t) of the micro-amplitude vibration of the water surface according to the frequency range and the frequency change rule of the frequency characteristics omega' (t) of different underwater targets to find a target water area, and judging the underwater target type and the corresponding sound pressure level range P of the sound source according to the priori knowledge 0 (dB)。
Preferably, in the step S4:
estimating the water surface sound pressure according to the relation between the water surface sound pressure and the excited water surface vibration:
P(ω,t)＝ρvω(t)δ(t)
wherein P (ω, t) represents the sound pressure near the water surface, ρ represents the density of water, v represents the propagation velocity of sound under water, ω represents the measured vibration frequency, and ω (t) is the frequency of the water surface micro-amplitude vibration; delta (t) represents the water surface vibration information generated by underwater target underwater acoustic excitation;
according to the sound pressure level range P of the underwater target sound source 0 (dB) and a spherical wave sound pressure attenuation rule to obtain a target distance D:
the invention provides an underwater target detection system based on microwave water surface vibration sensing, which comprises:
a module M1: driving a microwave transceiver to sense water surface vibration through a carrying platform, and extracting water surface vibration information generated by underwater target underwater sound excitation;
a module M2: eliminating wave motion information and carrying platform motion information;
a module M3: analyzing water surface vibration information generated by underwater target underwater acoustic excitation, and positioning the water surface vibration information to a target water area;
a module M4: and detecting and positioning the target, and calculating the depth.
Preferably, in said module M1:
the method comprises the following steps that the microwave interference radar is utilized to sense water surface vibration generated by underwater target underwater acoustic excitation, the carrying platform carries the microwave interference radar, a transmitting antenna of the microwave interference radar faces the target water surface, the microwave interference radar is controlled to transmit microwave signals to be incident on the water surface to be detected, the microwave transceiver obtains baseband signals by transmitting and receiving the microwave signals, the method including arc tangent demodulation is used for a single-frequency continuous wave radar, and the fluctuation displacement information x (t) of the water surface is inverted by an interference phase evolution tracking method for a frequency modulation continuous wave radar:
wherein, lambda is the wavelength of the microwave signal,
extracting interference phase evolution information, wherein t is time;
the microwave transceiver includes: the device comprises a continuous wave microwave signal source, a power divider, a power amplifier, a mixer, a low-pass filter, a conditioning circuit, a transmitting-receiving antenna and a processor;
the continuous wave microwave signal source is used for transmitting continuous wave microwave signals, the continuous wave microwave signal source is divided into two paths through the power divider, the two paths are transmitted by the transmitting antenna through the power amplifier, one path is input into the frequency mixer and is subjected to frequency mixing processing with reflected signals received by the receiving antenna, the frequency mixer is connected with the low-pass filter, the frequency mixed signals are input into the low-pass filter, and the low-pass filter is connected with the conditioning circuit to finally generate baseband signals of the microwave transceiver;
the receiving and transmitting antenna comprises a transmitting antenna and a receiving antenna, and the number of the transmitting antenna and the receiving antenna is at least 1.
Preferably, in said module M2:
according to the sea surface wave frequency range, eliminating ultralow frequency wave motion components in the water surface fluctuation displacement information by using a processing method including high-pass filtering;
the vibration interference component of the body of the mobile body is eliminated by combining the motion information of the carrying platform through a method including a vibration isolation cradle head and software algorithm filtering, and the influence of the self vibration of the carrying platform is avoided.
Preferably, in said module M3:
analyzing water surface vibration information generated by underwater target underwater acoustic excitation, positioning a target water area by combining position information of a carrying platform and calculating target depth, and specifically operating as follows:
extracting water surface vibration information delta (t) generated by underwater target underwater acoustic excitation, and analyzing the water surface micro-amplitude vibration information for a period of time by using methods including fast Fourier transform, short-time Fourier transform and wavelet transform to obtain the frequency omega (t) of the water surface micro-amplitude vibration;
comparing the frequency omega (t) of the micro-amplitude vibration of the water surface according to the frequency range and the frequency change rule of the frequency characteristics omega' (t) of different underwater targets to find a target water area, and judging the underwater target type and the corresponding sound pressure level range P of the sound source according to the priori knowledge 0 (dB)。
Preferably, in said module M4:
estimating the water surface sound pressure according to the relation between the water surface sound pressure and the excited water surface vibration:
P(ω,t)＝ρvω(t)δ(t)
wherein P (ω, t) represents the sound pressure near the water surface, ρ represents the density of water, v represents the propagation velocity of sound under water, ω represents the measured vibration frequency, and ω (t) is the frequency of the water surface micro-amplitude vibration; delta (t) represents water surface vibration information generated by underwater acoustic excitation of the underwater target;
according to the sound pressure level range P of the underwater target sound source 0 (dB) and a spherical wave sound pressure attenuation rule to obtain a target distance D:
compared with the prior art, the invention has the following beneficial effects:
1. the invention provides an underwater target detection method and system based on microwave water surface vibration sensing. Solves the difficult problems that the prior underwater target detection method is difficult to realize maneuvering detection, remote detection, accurate target positioning and the like
2. The invention overcomes the problems that the existing active sonar system has large power and volume, and the passive sonar seriously depends on high and new materials and processes;
3. the invention has the advantages of stronger low-frequency sensing capability, wider detection range, good maneuverability and easier detection of depth information.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a flow chart of a method of the present invention;
fig. 3 is a block diagram of the system of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.
Example 1:
according to the underwater target detection method based on microwave water surface vibration sensing provided by the invention, as shown in fig. 1-3, the method comprises the following steps:
step S1: driving a microwave transceiver to sense water surface vibration through a carrying platform, and extracting water surface vibration information generated by underwater target underwater sound excitation;
step S2: eliminating wave motion information and carrying platform motion information;
and step S3: analyzing water surface vibration information generated by underwater target underwater acoustic excitation, and positioning the water surface vibration information to a target water area;
and step S4: and detecting and positioning the target, and calculating the depth.
Preferably, in the step S1:
the method comprises the following steps that the microwave interference radar is utilized to sense water surface vibration generated by underwater target underwater acoustic excitation, the carrying platform carries the microwave interference radar, a transmitting antenna of the microwave interference radar faces the target water surface, the microwave interference radar is controlled to transmit microwave signals to be incident on the water surface to be detected, the microwave transceiver obtains baseband signals by transmitting and receiving the microwave signals, the method including arc tangent demodulation is used for a single-frequency continuous wave radar, and the fluctuation displacement information x (t) of the water surface is inverted by an interference phase evolution tracking method for a frequency modulation continuous wave radar:
wherein, lambda is the wavelength of the microwave signal,
extracting interference phase evolution information, wherein t is time;
the microwave transceiver includes: the device comprises a continuous wave microwave signal source, a power divider, a power amplifier, a mixer, a low-pass filter, a conditioning circuit, a transmitting-receiving antenna and a processor;
the continuous wave microwave signal source is used for transmitting continuous wave microwave signals, the continuous wave microwave signals are divided into two paths through the power divider, the two paths are transmitted by the transmitting antenna through the power amplifier, one path is input into the frequency mixer and is subjected to frequency mixing processing with reflected signals received by the receiving antenna, the frequency mixer is connected with the low-pass filter, the frequency mixing signals are input into the low-pass filter, the low-pass filter is connected with the conditioning circuit, and finally baseband signals of the microwave transceiver are generated;
the receiving and transmitting antenna comprises a transmitting antenna and a receiving antenna, and the number of the transmitting antenna and the receiving antenna is at least 1.
Preferably, in the step S2:
according to the sea surface wave frequency range, eliminating the ultralow frequency wave motion component in the water surface fluctuation displacement information by using a processing method including high-pass filtering;
the vibration interference component of the body of the mobile body is eliminated by combining the motion information of the carrying platform through a method including a vibration isolation cradle head and software algorithm filtering, and the influence of the self vibration of the carrying platform is avoided.
Preferably, in the step S3:
analyzing water surface vibration information generated by underwater target underwater acoustic excitation, positioning a target water area by combining position information of a carrying platform and calculating target depth, and specifically operating as follows:
extracting water surface vibration information delta (t) generated by underwater target underwater acoustic excitation, and analyzing the water surface micro-amplitude vibration information for a period of time by using methods including fast Fourier transform, short-time Fourier transform and wavelet transform to obtain the frequency omega (t) of the water surface micro-amplitude vibration;
according to different underwater target frequency characteristics omega'(t) comparing the frequency range and the frequency change rule of the water surface micro-amplitude vibration omega (t) to find a target water area, and judging the underwater target type and the corresponding sound pressure level range P of the sound source according to the priori knowledge 0 (dB)。
Preferably, in the step S4:
estimating the water surface sound pressure according to the relation between the water surface sound pressure and the excited water surface vibration:
P(ω,t)＝ρvω(t)δ(t)
wherein P (ω, t) represents the sound pressure near the water surface, ρ represents the density of water, v represents the propagation velocity of sound under water, ω represents the measured vibration frequency, and ω (t) is the frequency of the water surface micro-amplitude vibration; delta (t) represents the water surface vibration information generated by underwater target underwater acoustic excitation;
according to the sound pressure level range P of the underwater target sound source 0 (dB) and a spherical wave sound pressure attenuation rule to obtain a target distance D:
example 2:
example 2 is a preferred example of example 1, and the present invention will be described in more detail.
The underwater target detection method based on microwave water surface vibration sensing provided by the invention can be understood as a specific implementation manner of an underwater target detection system based on microwave water surface vibration sensing by those skilled in the art, that is, the underwater target detection system based on microwave water surface vibration sensing can be realized by executing the step flow of the underwater target detection method based on microwave water surface vibration sensing.
The invention provides an underwater target detection system based on microwave water surface vibration sensing, which comprises:
a module M1: driving a microwave transceiver to sense water surface vibration through a carrying platform, and extracting water surface vibration information generated by underwater target underwater sound excitation;
a module M2: eliminating wave motion information and carrying platform motion information;
a module M3: analyzing water surface vibration information generated by underwater target underwater acoustic excitation, and positioning the water surface vibration information to a target water area;
a module M4: and detecting and positioning the target, and calculating the depth.
Preferably, in said module M1:
the method comprises the following steps that the microwave interference radar is used for sensing water surface vibration generated by underwater target underwater acoustic excitation, the carrying platform carries the microwave interference radar, a transmitting antenna of the microwave interference radar faces the target water surface, the microwave interference radar is controlled to transmit microwave signals to be incident on the water surface to be detected, the microwave transceiver obtains baseband signals by transmitting and receiving the microwave signals, the single-frequency continuous wave radar adopts a method including arc tangent demodulation, and the frequency modulation continuous wave radar adopts an interference phase evolution tracking method to invert fluctuation displacement information x (t) of the water surface:
wherein, lambda is the wavelength of the microwave signal,
t is time for the extracted interference phase evolution information;
the microwave transceiver includes: the device comprises a continuous wave microwave signal source, a power divider, a power amplifier, a mixer, a low-pass filter, a conditioning circuit, a transmitting-receiving antenna and a processor;
the continuous wave microwave signal source is used for transmitting continuous wave microwave signals, the continuous wave microwave signals are divided into two paths through the power divider, the two paths are transmitted by the transmitting antenna through the power amplifier, one path is input into the frequency mixer and is subjected to frequency mixing processing with reflected signals received by the receiving antenna, the frequency mixer is connected with the low-pass filter, the frequency mixing signals are input into the low-pass filter, the low-pass filter is connected with the conditioning circuit, and finally baseband signals of the microwave transceiver are generated;
the receiving and transmitting antenna comprises a transmitting antenna and a receiving antenna, and the number of the transmitting antenna and the receiving antenna is at least 1.
Preferably, in said module M2:
according to the sea surface wave frequency range, eliminating the ultralow frequency wave motion component in the water surface fluctuation displacement information by using a processing method including high-pass filtering;
the vibration interference component of the body of the mobile body is eliminated by combining the motion information of the carrying platform through a method including a vibration isolation cradle head and software algorithm filtering, and the influence of the self vibration of the carrying platform is avoided.
Preferably, in said module M3:
analyzing water surface vibration information generated by underwater target underwater acoustic excitation, positioning a target water area by combining position information of a carrying platform and calculating target depth, and specifically operating as follows:
extracting water surface vibration information delta (t) generated by underwater target underwater acoustic excitation, and analyzing the water surface micro-amplitude vibration information for a period of time by using methods including fast Fourier transform, short-time Fourier transform and wavelet transform to obtain the frequency omega (t) of the water surface micro-amplitude vibration;
comparing the frequency omega (t) of the micro-amplitude vibration of the water surface according to the frequency range and the frequency change rule of the frequency characteristics omega' (t) of different underwater targets to find a target water area, and judging the underwater target type and the corresponding sound pressure level range P of the sound source according to the priori knowledge 0 (dB)。
Preferably, in said module M4:
estimating the water surface sound pressure according to the relation between the water surface sound pressure and the water surface vibration excited by the water surface sound pressure:
P(ω,t)＝ρvω(t)δ(t)
wherein P (ω, t) represents the sound pressure near the water surface, ρ represents the density of water, v represents the propagation velocity of sound under water, ω represents the measured vibration frequency, and ω (t) is the frequency of the water surface micro-amplitude vibration; delta (t) represents water surface vibration information generated by underwater acoustic excitation of the underwater target;
according to the sound pressure level range P of the underwater target sound source 0 (dB) and a spherical wave sound pressure attenuation rule to obtain a target distance D:
example 3:
example 3 is a preferred example of example 1, and the present invention will be described in more detail.
The invention provides an underwater target detection method and system based on microwave water surface vibration sensing, aiming at the problems and defects of the existing underwater target detection. Firstly, a carrying platform is used for carrying a microwave transceiver to sense water surface fluctuation information, and target detection and positioning are carried out by extracting water surface vibration information generated by underwater target underwater acoustic excitation and combining the underwater acoustic characteristics of a detection target.
The invention relates to an underwater target detection method based on microwave water surface vibration sensing, which comprises the following steps:
step 1, driving a microwave transceiver to perform water surface vibration sensing through a carrying platform including an aircraft, and extracting water surface vibration information generated by underwater target underwater sound excitation;
and 2, analyzing water surface vibration information generated by underwater target underwater acoustic excitation, positioning to a target water area, and detecting and positioning the target.
The method for sensing the water surface vibration by the microwave transceiver in the step 1 comprises the following steps:
step 1.1, measuring water surface fluctuation information containing water surface vibration information generated by underwater target underwater acoustic excitation by using a microwave transceiver;
step 1.2, wave motion components in the water surface fluctuation information are eliminated;
and eliminating the ultralow frequency wave motion component by an elimination method including high-pass filtering.
And 1.3, eliminating the interference information of the mobile body, and finally extracting the water surface vibration information generated by underwater acoustic excitation of the underwater target.
The vibration interference component of the carrying platform is eliminated by a method including vibration isolation cradle head and software algorithm filtering.
The target water area positioning and target depth calculating method in the step 2 comprises the following steps:
and 2.1, detecting the matched vibration water area according to the priori knowledge of the underwater acoustic characteristics of the target to be detected, and realizing target water area positioning and underwater target category identification.
Wherein the underwater acoustic characteristics of the target include frequency range, frequency variation characteristics, and source sound pressure level.
And 2.2, calculating the depth of the target according to the attenuation relation between the underwater sound pressure and the propagation distance.
P(ω,t)＝ρvω(t)δ(t)
Wherein P (ω, t) represents the sound pressure near the water surface, ρ represents the density of the water, ω represents the measured vibration frequency, v represents the propagation velocity of the sound under the water, and δ (t) represents the extracted water surface vibration information generated by the underwater acoustic excitation of the underwater target. According to the sound pressure level range P of the underwater target 0 (dB) and the spherical wave sound pressure attenuation law can obtain the target distance D:
the invention relates to an underwater target detection system based on microwave water surface vibration sensing, which comprises: the system comprises a carrying platform, a microwave transceiver, a water surface vibration information extraction module, a target detection and identification module and a memory.
The carrying platform is used for carrying a millimeter wave radar to carry out large-range maneuvering measurement on the water surface; the microwave transceiver is used for transmitting and receiving continuous wave microwave signals and generating baseband signals of the microwave transceiver; the water surface vibration information extraction module is used for collecting and processing baseband signals of the microwave transceiver into fluctuation displacement time domain information of the water surface, inhibiting the microwave transceiver self-vibration generated by the operation of the carrying platform and finally extracting the water surface vibration information excited by underwater target underwater sound. The target detection and identification module is used for converting the water surface vibration information into underwater target detection and target position positioning information. The memory is used for storing information including water surface vibration information, underwater target detection and identification information and positioning information.
The microwave transceiver includes: the device comprises a continuous wave microwave signal source, a power divider, a power amplifier, a mixer, a low-pass filter, a conditioning circuit, a transmitting-receiving antenna and a processor. The continuous wave microwave signal source is used for transmitting continuous wave microwave signals, the continuous wave microwave signals are divided into two paths through the power divider, the two paths are transmitted by the transmitting antenna through the power amplifier, one path is input into the frequency mixer and is subjected to frequency mixing processing with reflected signals received by the receiving antenna, the frequency mixer is connected with the low-pass filter, the frequency mixing signals are input into the low-pass filter, the low-pass filter is connected with the conditioning circuit, and finally baseband signals of the microwave transceiver are generated.
The receiving and transmitting antenna comprises a transmitting antenna and a receiving antenna, and the number of the transmitting antenna and the receiving antenna is at least 1.
Example 4:
example 4 is a preferred example of example 1, and the present invention will be described in more detail.
Fig. 1 is a schematic diagram of an underwater target detection method and system based on microwave water surface vibration sensing according to the present invention. The carrying platform is used for carrying the microwave transceiver, and underwater target identification and positioning are carried out by extracting water surface vibration information generated by underwater target underwater acoustic excitation.
As shown in fig. 2, a flowchart of an underwater target detection method based on microwave water surface vibration sensing according to the present invention includes the following steps:
step 1, sensing water surface vibration generated by underwater target underwater acoustic excitation by using a microwave interference radar, and specifically operating as follows:
step 1.1, a carrying platform carries a microwave interference radar, a transmitting antenna of the carrying platform faces a target water surface, the microwave interference radar is controlled to transmit microwave signals to enter the water surface to be detected, a microwave transceiver obtains baseband signals by transmitting and receiving the microwave signals, a single-frequency continuous wave radar uses a method including arc tangent demodulation, and for a Frequency Modulation Continuous Wave (FMCW) radar, an interference phase evolution tracking method can be used for inverting fluctuation displacement information of the water surface:
wherein lambda is the wavelength of the microwave signal,
is the extracted interferometric phase evolution information.
And 1.2, eliminating the ultralow frequency wave motion component in the water surface fluctuation displacement information by using a processing method including high-pass filtering according to the sea surface wave frequency range.
And step 1.3, eliminating the vibration interference component of the body of the mobile body by combining the motion information of the carrying platform through a method including a vibration isolation cradle head and software algorithm filtering, and avoiding the influence of the self vibration of the carrying platform.
Step 2, analyzing water surface vibration information generated by underwater target underwater acoustic excitation, positioning a target water area by combining position information of a carrying platform and calculating target depth, wherein the concrete operations are as follows:
and 2.1, extracting water surface vibration information delta (t) generated by underwater target underwater acoustic excitation, and analyzing the water surface micro-amplitude vibration information for a period of time by using a method including fast Fourier transform, short-time Fourier transform and wavelet transform to obtain the frequency omega (t) of the water surface micro-amplitude vibration.
Step 2.2, comparing the frequency omega (t) of the micro-amplitude vibration of the water surface according to the frequency range and the frequency change rule of different underwater target frequency characteristics omega' (t), finding a target water area, and judging the underwater target type and the corresponding sound pressure level range P of the sound source according to the priori knowledge 0 (dB)。
Step 2.3, estimating the water surface sound pressure according to the relation between the water surface sound pressure and the water surface vibration excited by the water surface sound pressure:
P(ω,t)＝ρvω(t)δ(t)
wherein P (ω, t) represents the sound pressure near the water surface, ρ represents the density of the water, ω represents the measured vibration frequency, v represents the propagation velocity of the sound under the water, and δ (t) represents the water surface vibration information generated by the underwater acoustic excitation of the underwater target. According to the sound pressure level range P of the underwater target sound source 0 (dB)And the spherical wave sound pressure attenuation law can obtain the target distance D:
as shown in fig. 3, the present invention relates to an underwater target detection system based on microwave water surface vibration sensing, comprising: the system comprises a carrying platform, a microwave transceiver, a water surface vibration information extraction module, a target detection and identification module and a memory. The carrying platform is used for carrying a millimeter wave radar to carry out large-range maneuvering measurement on the water surface; the microwave transceiver is used for transmitting and receiving continuous wave microwave signals and generating baseband signals of the microwave transceiver; the water surface vibration information extraction module is used for collecting and processing baseband signals of the microwave transceiver into fluctuation displacement time domain information of the water surface, inhibiting the microwave transceiver self-vibration generated by the operation of the carrying platform and finally extracting the water surface vibration information excited by underwater target underwater sound. The target detection and identification module is used for converting the water surface vibration information into underwater target detection and target position positioning information. The memory is used for storing information including water surface vibration information, underwater target detection and identification information and positioning information.
The microwave transceiver includes: the device comprises a continuous wave microwave signal source, a power divider, a power amplifier, a mixer, a low-pass filter, a conditioning circuit, a transmitting-receiving antenna and a processor. The continuous wave microwave signal source is used for transmitting continuous wave microwave signals, the continuous wave microwave signals are divided into two paths through the power divider, the two paths are transmitted by the transmitting antenna through the power amplifier, one path is input into the frequency mixer and is subjected to frequency mixing processing with reflected signals received by the receiving antenna, the frequency mixer is connected with the low-pass filter, the frequency mixing signals are input into the low-pass filter, the low-pass filter is connected with the conditioning circuit, and finally baseband signals of the microwave transceiver are generated.
The receiving and transmitting antenna comprises a transmitting antenna and a receiving antenna, and the number of the transmitting antenna and the receiving antenna is at least 1.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. An underwater target detection method based on microwave water surface vibration sensing is characterized by comprising the following steps:
step S1: driving a microwave transceiver to sense water surface vibration through a carrying platform, and extracting water surface vibration information generated by underwater target underwater sound excitation;
step S2: eliminating wave motion information and carrying platform motion information;
and step S3: analyzing water surface vibration information generated by underwater target underwater acoustic excitation, and positioning the water surface vibration information to a target water area;
and step S4: and detecting and positioning the target, and calculating the depth.
2. The method for detecting underwater targets based on microwave water surface vibration perception according to claim 1, wherein in the step S1:
the method comprises the following steps that the microwave interference radar is utilized to sense water surface vibration generated by underwater target underwater acoustic excitation, the carrying platform carries the microwave interference radar, a transmitting antenna of the microwave interference radar faces the target water surface, the microwave interference radar is controlled to transmit microwave signals to be incident on the water surface to be detected, the microwave transceiver obtains baseband signals by transmitting and receiving the microwave signals, the method including arc tangent demodulation is used for a single-frequency continuous wave radar, and the fluctuation displacement information x (t) of the water surface is inverted by an interference phase evolution tracking method for a frequency modulation continuous wave radar:
wherein lambda is the wavelength of the microwave signal,
for the extracted interferometric phase evolution information, t is time.
3. The method for detecting underwater targets based on microwave water surface vibration perception according to claim 1, wherein in the step S2:
according to the sea surface wave frequency range, eliminating the ultralow frequency wave motion component in the water surface fluctuation displacement information by using a processing method including high-pass filtering;
the vibration interference component of the body of the mobile body is eliminated by combining the motion information of the carrying platform through a method including a vibration isolation cradle head and software algorithm filtering, and the influence of the self vibration of the carrying platform is avoided.
4. The method for detecting underwater targets based on microwave water surface vibration sensing according to claim 1, wherein in the step S3:
analyzing water surface vibration information generated by underwater target underwater acoustic excitation, positioning a target water area by combining position information of a carrying platform and calculating target depth, and specifically operating as follows:
extracting water surface vibration information delta (t) generated by underwater target underwater acoustic excitation, and analyzing the water surface micro-amplitude vibration information for a period of time by using methods including fast Fourier transform, short-time Fourier transform and wavelet transform to obtain the frequency omega (t) of the water surface micro-amplitude vibration;
comparing the frequency omega (t) of the micro-amplitude vibration of the water surface according to the frequency range and the frequency change rule of the frequency characteristic omega' (t) of different underwater targets to find a target water area, and judging the underwater target type and the corresponding sound pressure level range P of the sound source according to the priori knowledge 0 (dB)。
5. The method for detecting underwater targets based on microwave water surface vibration sensing according to claim 1, wherein in the step S4:
estimating the water surface sound pressure according to the relation between the water surface sound pressure and the excited water surface vibration:
P(ω,t)＝ρvω(t)δ(t)
wherein P (ω, t) represents the sound pressure near the water surface, ρ represents the density of water, v represents the propagation velocity of sound under water, ω represents the measured vibration frequency, and ω (t) is the frequency of the water surface micro-amplitude vibration; delta (t) represents the water surface vibration information generated by underwater target underwater acoustic excitation;
according to the sound pressure level range P of the underwater target sound source 0 (dB) and a spherical wave sound pressure attenuation rule to obtain a target distance D:
6. an underwater target detection system based on microwave water surface vibration sensing, comprising:
a module M1: driving a microwave transceiver to sense water surface vibration through a carrying platform, and extracting water surface vibration information generated by underwater target underwater sound excitation;
a module M2: eliminating wave motion information and carrying platform motion information;
a module M3: analyzing water surface vibration information generated by underwater target underwater acoustic excitation, and positioning the water surface vibration information to a target water area;
a module M4: and detecting and positioning the target, and calculating the depth.
7. The microwave water surface vibration sensing-based underwater object detection system according to claim 6, wherein in the module M1:
the method comprises the following steps that the microwave interference radar is utilized to sense water surface vibration generated by underwater target underwater acoustic excitation, the carrying platform carries the microwave interference radar, a transmitting antenna of the microwave interference radar faces the target water surface, the microwave interference radar is controlled to transmit microwave signals to be incident on the water surface to be detected, the microwave transceiver obtains baseband signals by transmitting and receiving the microwave signals, the method including arc tangent demodulation is used for a single-frequency continuous wave radar, and the fluctuation displacement information x (t) of the water surface is inverted by an interference phase evolution tracking method for a frequency modulation continuous wave radar:
wherein lambda is the wavelength of the microwave signal,
extracting interference phase evolution information, wherein t is time;
the microwave transceiver includes: the device comprises a continuous wave microwave signal source, a power divider, a power amplifier, a mixer, a low-pass filter, a conditioning circuit, a transmitting-receiving antenna and a processor;
the continuous wave microwave signal source is used for transmitting continuous wave microwave signals, the continuous wave microwave signals are divided into two paths through the power divider, the two paths are transmitted by the transmitting antenna through the power amplifier, one path is input into the frequency mixer and is subjected to frequency mixing processing with reflected signals received by the receiving antenna, the frequency mixer is connected with the low-pass filter, the frequency mixing signals are input into the low-pass filter, the low-pass filter is connected with the conditioning circuit, and finally baseband signals of the microwave transceiver are generated;
the receiving and transmitting antenna comprises a transmitting antenna and a receiving antenna, and the number of the transmitting antenna and the receiving antenna is at least 1.
8. The microwave water surface vibration sensing-based underwater object detection system according to claim 6, wherein in the module M2:
according to the sea surface wave frequency range, eliminating the ultralow frequency wave motion component in the water surface fluctuation displacement information by using a processing method including high-pass filtering;
the vibration interference component of the body of the mobile body is eliminated by combining the motion information of the carrying platform through a method including a vibration isolation cradle head and software algorithm filtering, and the influence of the self vibration of the carrying platform is avoided.
9. The microwave water surface vibration sensing-based underwater object detection system of claim 6, wherein in the module M3:
analyzing water surface vibration information generated by underwater target underwater acoustic excitation, positioning a target water area by combining position information of a carrying platform and calculating target depth, and specifically operating as follows:
extracting water surface vibration information delta (t) generated by underwater target underwater acoustic excitation, and analyzing the water surface micro-amplitude vibration information for a period of time by using methods including fast Fourier transform, short-time Fourier transform and wavelet transform to obtain the frequency omega (t) of the water surface micro-amplitude vibration;
comparing the frequency omega (t) of the micro-amplitude vibration of the water surface according to the frequency range and the frequency change rule of the frequency characteristics omega' (t) of different underwater targets to find a target water area, and judging the underwater target type and the corresponding sound pressure level range P of the sound source according to the priori knowledge 0 (dB)。
10. The microwave water surface vibration sensing-based underwater object detection system according to claim 6, wherein in the module M4:
estimating the water surface sound pressure according to the relation between the water surface sound pressure and the excited water surface vibration:
P(ω,t)＝ρvω(t)δ(t)
wherein P (ω, t) represents the sound pressure near the water surface, ρ represents the density of water, v represents the propagation velocity of sound under water, ω represents the measured vibration frequency, and ω (t) is the frequency of the water surface micro-amplitude vibration; delta (t) represents the water surface vibration information generated by underwater target underwater acoustic excitation;
according to the sound pressure level range P of the underwater target sound source 0 (dB) and a spherical wave sound pressure attenuation rule to obtain a target distance D:
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| CN116973922B (en) * | 2023-08-29 | 2024-04-16 | 中国水产科学研究院珠江水产研究所 | Underwater biodistribution characteristic analysis method based on underwater acoustic signal detection |
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