CN116068493A - Passive sound source positioning method for deep sea large-depth vertical distributed hydrophone - Google Patents
Passive sound source positioning method for deep sea large-depth vertical distributed hydrophone Download PDFInfo
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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Abstract
The invention discloses a passive sound source positioning method for a deep sea large-depth vertical distributed hydrophone, and belongs to the fields of ocean engineering, underwater sound engineering, array signal processing, sonar technology and the like. According to the method, all hydrophones are grouped in pairs, the frequency spectrum of the signals received by the hydrophones is resampled in each group based on sound velocity profile information and assumed sound source distance, and the cost function is constructed by combining all hydrophones. The peak position of the cost function is the estimation result of the sound source distance. And (3) based on the sound source distance estimation result, carrying out modified Fourier transform on the hydrophone receiving frequency spectrum, and obtaining the position of the transformed output peak value as the estimation result of the sound source depth. The method can be well applied to the situation of fewer hydrophones. In addition, the method has faster calculation speed.
Description
Technical Field
The invention relates to a passive positioning method of a plurality of hydrophones vertically distributed in deep sea with large depth for a broadband sound source near the sea surface, which is suitable for the passive positioning problem of the deep sea with the vertically distributed hydrophones with large depth for the broadband sound source near the sea surface, and belongs to the fields of ocean engineering, underwater sound engineering, array signal processing, sonar technology and the like.
Background
The sound source localization in the deep sea environment has important significance for the fields of ocean engineering, ocean resource development, underwater battle and the like. Accurate, robust, and rapid positioning methods have been the direction of effort for a vast number of hydrosonifiers. In a deep sea environment, when a hydrophone is deployed near the sea floor and a sound source is located near the sea surface, the received sound field is dominated by the direct (D) path and the sea Surface Reflection (SR) path. The D and SR paths are approximately equal in amplitude and approximately opposite in phase, and interference between the two causes the intensity of the received sound field to exhibit periodic fluctuations in the time or frequency domain. The fluctuation characteristic of the sound field intensity is closely related to the sound source position. Therefore, under the condition of deep sea and large depth reception, the full utilization of the interference characteristics of the D and SR paths is an important means for realizing sound source localization.
For a broadband sound source, D-SR interference causes the received sound intensity to exhibit periodic fluctuations in the frequency domain. For sound source localization, the vertical arrival angle of the sound source signal can be estimated firstly through vertical array beam scanning or vector hydrophone, and then the sound source distance can be estimated through ray tracing technology. Then, based on the estimated sound source distance, the sound source depth can be estimated by beam output spectrum matching or modified fourier transform method. When the vertical arrival angle of the sound source signal is not available, the estimation of the sound source position and distance can be accomplished by arranging a plurality of hydrophones at different depths near the sea floor. For example, matching the distribution of sound intensities in the frequency-receiving depth space is an effective method. According to the method, spectrums received by hydrophones with different depths are synthesized into a two-dimensional matrix, the two-dimensional matrix is matched with a copy field matrix calculated by a model, a cost function is constructed to perform two-dimensional scanning on an interested region, and the position of a peak value of the cost function is the estimation result of the sound source position. However, this method requires a sufficiently large number of vertically distributed hydrophones, which can otherwise suffer from performance degradation or even failure due to insufficient spatial sampling of the sound field.
Disclosure of Invention
The invention provides a passive sound source positioning method of a deep sea large-depth vertical distributed hydrophone, which aims to solve the problem that the performance of the existing sound intensity distribution matching method is reduced or fails when the number of hydrophones is small. The method comprises the steps of firstly grouping the vertically distributed multi-hydrophones in pairs, resampling the frequency spectrum of one hydrophone in each group based on sound velocity profile information and assumed sound source distance, carrying out consistency comparison with the received frequency spectrum of the other hydrophone, and then constructing a cost function by combining the comparison results of all groups. The peak position of the cost function is the estimation result of the sound source distance. And then, based on the estimated sound source distance, carrying out modified Fourier transform on the received frequency spectrum of the hydrophone, and obtaining the position of the peak value of the transform output as the estimated result of the sound source depth. Compared with the existing method for matching sound intensity distribution in a typical deep sea environment, the method provided by the invention can be better suitable for the condition of fewer hydrophones. In addition, the method has faster calculation speed.
The invention solves the technical problems by adopting the technical scheme that: a passive sound source positioning method of a deep sea large-depth vertical distributed hydrophone is characterized by comprising the following steps:
step one: in a typical deep sea environment, M vertically distributed hydrophones are deployed near the sea floor to receive broadband signals from sound sources near the sea surface. The distribution depth of the M hydrophones is z respectively r,1 ,z r,2 ,…,z r,M Sampling frequency f s . The horizontal distance of sound source is r, and the depth is z s . The sound source radiates broadband signals with the frequency band of B= [ f ] l ,f h ]Wherein f l And f h Representing the lower and upper limits of the sound source signal band, respectively. Recording the signal acquisition time length of all hydrophones as T, and recording the signal received by the mth hydrophone as x m (N), where n=1, 2, …, N represents a time domain discrete sample point number.
Step two: and sequentially carrying out Fourier transformation on the received signals of the M hydrophones, and extracting the spectrum sequence of the received signals in the frequency band B. The specific operation flow is as follows:
for each hydrophone (m-th example), a signal x is received for it m (n) performing fast Fourier transform to obtain a spectrum of
AX m (k)＝|FFT{x m (n)}| (1)
Wherein the method comprises the steps ofFFT { · } represents the fast fourier transform, |·| represents the modulo operation, k=1, 2, …, N is the fast fourier transform output point number. AX is taken m (k) Of the (int { f) l T } +1 to int { f h T } +1 points are taken as an in-band spectrum sequence of the mth hydrophone and are marked as I m (q),q＝1,2,…,Q。Q＝int{f h T}-int{f l T } +1.int { · } represents a rounding operation.
Step three: grouping M hydrophones in pairs to obtain
The group hydrophones, under the assumed horizontal distance of sound source, operate the following operation on the spectrum sequence of each group hydrophone by means of the known sound velocity profile information:
for each group of hydrophones (i and j are taken as examples), the deployment depth is z respectively r,i And z r,j And z r,i <z r,j . Let the assumed sound source distance be r a Calculating the parameter lambda i,j
Wherein c zr,i And c zr,j Depth z respectively r,i And z r,j Sound velocity value at, ζ (c zr,i/j ,u i/j ) Calculated from the following formula:
wherein u is i/j Calculated by a numerical method based on the following,
c w calculated from the following formula:
where c (z) represents the sound velocity value at depth z, z s-max Representing the maximum possible sound source depth.
Step four: extraction of AX i (k) Of (1) int { (f) l /Λ i,j ) T } +1 to int { f h T } +1 points, denoted as P i (l),l＝1,2,…,L。L＝int{f h T}-int{(f l /Λ i,j ) T } +1. Thereafter, the sequence P is constructed j (l)，l＝1,2,…,L。L＝int{f h T}-int{(f l /Λ i,j )T}+1。P j (l) The value of the first point in the step (2) is taken as AX j (k) Int { Λ ] i,j [(f l /Λ i,j )+(l-1)/T]T } +1 points. int { · } represents a rounding operation.
Step five: according to the aforementioned lambda i,j ,P i (l) And P j (l) According to
Calculating a currently assumed sound source distance r a A corresponding cost function value.
Step six: dividing distance search grids according to the precision requirement in a certain range containing the real sound source distance, repeating the steps three to five aiming at all the search grids, and calculating and storing the cost function values corresponding to all the grid points. The peak position of the cost function is the estimation result of the sound source distance, and the estimation result of the sound source distance is recorded as r e 。
Step seven: for any hydrophone (mth example), the sound source distance r estimated based on step six e For I obtained in the second step m (q) performing a modified fourier transform:
wherein c zr,m For the sound velocity value at the mth hydrophone depth, ζ (c zr,m ,u me ) Calculated from the following formula:
u me calculated by a numerical method based on the following,
c w calculated from the following formula:
where c (z) represents the sound velocity value at depth z, z s-max Representing the maximum possible sound source depth.
Finally, the Fourier transform output M is modified m The peak position of (z) is the sound source depth estimation result given by the mth sensor.
Furthermore, the application scene of the method for positioning the passive sound source of the deep sea large-depth vertical distributed hydrophone is a typical deep sea environment, the hydrophones are distributed near the sea bottom, and the number of the hydrophones is not less than 3.
Furthermore, the method for positioning the passive sound source of the deep sea large-depth vertical distributed hydrophone is suitable for a broadband sound source near the sea surface, the sound source depth is not less than 10m, and the frequency bandwidth of a sound source signal is not less than 150Hz.
Furthermore, the deep sea large depth vertical distributed hydrophone passive sound source positioning method is suitable for receiving signals by a plurality of omnidirectional hydrophones which are vertically distributed and is also suitable for beam output signals of a plurality of arrays which are vertically distributed.
The invention has the beneficial effects that: based on the multi-path interference characteristic under the deep sea large-depth receiving condition, the passive positioning method of the offshore broadband sound source is provided, which is suitable for the vertical distributed hydrophone under the environment. According to the method, all hydrophones are grouped in pairs, the frequency spectrum of the received signal of the hydrophone is resampled in each group based on sound velocity profile information and assumed sound source distance, and a cost function is constructed by combining all hydrophones. The peak position of the cost function is the estimation result of the sound source distance. And then, based on the sound source distance estimation result, carrying out modified Fourier transform on the hydrophone receiving frequency spectrum, and obtaining the position of the peak value in the transform output as the sound source depth estimation result. Compared with the existing method for matching sound intensity distribution in a typical deep sea environment, the method provided by the invention can be better suitable for the condition of fewer hydrophones. In addition, the method has faster calculation speed. The basic principle and the implementation mode of the invention are verified by computer numerical simulation. The result shows that the method for positioning the passive sound source of the vertical distributed hydrophone can realize effective estimation of the distance and depth of the sound source in a scene where only 3 hydrophones are arranged, and meanwhile, compared with a sound intensity matching method, the method for positioning the passive sound source of the vertical distributed hydrophone saves about 6 times of calculation time.
Drawings
FIG. 1 is a schematic view of a simulated scene sound velocity profile.
Fig. 2 is a diagram of a Bellhop acoustic field model simulating the reception of signals by different hydrophones. Subgraph (a) is a normalized time domain waveform, and subgraph (b) is a normalized spectrum.
FIG. 3 is a flow chart of a passive sound source positioning method of a deep sea large depth vertical distributed hydrophone.
Fig. 4 is a result of estimating the distance of a sound source according to the method of the present invention.
Fig. 5 is a modified fourier transform acoustic source depth estimation result for different hydrophones.
Fig. 6 shows a localization blur surface (normalization result) of the existing sound intensity distribution matching method.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples, which include, but are not limited to, the following examples.
1. Deep sea waveguide environment, sound source and vertical distributed hydrophone
To verify the effectiveness of the method of the invention, it is advantageousAnd (5) performing simulation experiments by using a computer. In this embodiment, a typical deep sea environment is considered, the sea depth is 5000m, the sound velocity profile of sea water is shown in figure 1, and the sea water density is 1.0g/cm 3 The method comprises the steps of carrying out a first treatment on the surface of the The sound velocity of the seabed half space is 1600m/s, and the density is 1.5g/cm 3 The seabed substrate compression wave attenuation coefficient is 0.14 dB/lambda. M=3 vertically distributed hydrophones are deployed near the seafloor, 3 hydrophones are deployed to a depth z r,1 ,z r,2 ,z r,3 4650m,4750m,4850m, respectively. The horizontal distance of the sound source is r=8km, and the depth is z s ＝70m。
2. Hydrophone received signal
The present embodiment models the sound source signal as a chirp signal with a pulse width of 2s, the bandwidth of which is b= [320,480]]Hz. The reception signals of 3 hydrophones were simulated using the Bellhop acoustic field model: assuming that the amplitude of the sound source signal is 1, the hydrophones start to acquire while the sound source signal is sent out, and the signal acquisition duration of each hydrophone is t=20s. The sampling frequency of the hydrophones is f s ＝8kHz。
The simulation method of the received signal comprises the following steps: firstly, calculating sound ray arrival time and amplitude between a sound source position and a hydrophone position by using a Bellhop sound field model aiming at the hydrophones at different depths. And then forming channel impulse response by using the sound ray arrival structures, and carrying out time domain convolution on the sound source signal and the channel impulse response to obtain a hydrophone receiving time domain signal. And finally adding noise into the simulated received signal according to the signal-to-noise ratio. Assuming that the received signal-to-noise ratio of each hydrophone in the frequency band B= [320,480] Hz is SNR=10dB, the above signal simulation operation is sequentially carried out on 3 hydrophones, and the received signals of the hydrophones are obtained as shown in figure 2.
3. Passive sound source positioning method for deep sea large-depth vertical distributed hydrophone
As shown in figure 3, the implementation process of the passive sound source positioning method of the deep sea large-depth vertical distributed hydrophone provided by the invention is as follows:
step one: in a typical deep sea environment, m=3 vertically distributed hydrophones deployed near the sea floor receive broadband signals from sound sources near the sea surface. 3 hydrophonesIs set at depth z r,1 ,z r,2 ,z r,3 4650m,4750m,4850m, respectively, with a sampling frequency f s =8khz. The horizontal distance of the sound source is r=8km, and the depth is z s =70m. The sound source radiates broadband signals with the frequency band of B= [320,480]]Hz. The signal collection duration of all hydrophones is T=20s, and the signal received by the mth hydrophone is recorded as x m (n), where n=1, 2, …,160000 denotes the time domain discrete sample point number and m=1, 2,3 denotes the hydrophone number. This step in this embodiment has been accomplished by Bellhop acoustic field model simulation.
Step two: and sequentially carrying out Fourier transformation on the received signals of the 3 hydrophones, and extracting the spectrum sequence of the received signals in the frequency band B= [320,480] Hz. The specific operation flow is as follows:
for each hydrophone (1 st example), a signal x is received for it 1 (n) performing fast Fourier transform to obtain a spectrum of
AX 1 (k)＝|FFT{x 1 (n)}| (11)
Where FFT { · } represents the fast fourier transform, |·| represents the modulo operation, and k=1, 2, …,160000 is the fast fourier transform output point number. AX is taken 1 (k) The in-band spectral sequence of the 1 st hydrophone from the int {320×20} +1=6401 to the int {480×20} +1=9601 }, denoted as I 1 (q),q＝1,2,…,Q。Q＝3201。
Step three: the 3 hydrophones are grouped into three groups, and the frequency spectrum sequence of each group of hydrophones is operated based on sound velocity profile information under the assumed horizontal distance of a sound source:
for each group of hydrophones (i=1 and j=2, for example), the depth of deployment is z r,1 =4650m and z r , 2 ＝4750m，z r,1 <z r,2 . If the horizontal distance of the sound source is assumed to be r a =5 km, calculate parameter Λ 1,2
Wherein c zr,1 = 1546.0m/s and c zr,2 = 1547.7m/s depth z r,1 =4650m and z r,2 Sound velocity value at=4750m, ζ (c zr,1/2 ,u 1/2 ) Calculated from the following formula:
wherein u is 1/2 Calculated by a numerical method based on the following,
c w calculated from the following formula:
where c (z) represents the sound velocity value at depth z, z s-max =200m represents the maximum possible sound source depth.
The numerical calculation results are as follows: u (u) 1 ＝0.6661，u 2 ＝0.6738。
Step four: extraction of AX 1 (k) In (320/0.9876) ×20} +1=6481 to int {480×20} +1=9601 points, denoted as P 1 (l) L=1, 2, …, L. L=int {480×20} -int { (320/0.9876) ×20} +1=3121. Thereafter, the sequence P is constructed 2 (l),l＝1,2,…,L。L＝int{480×20}-int{(320/0.9876)×20}+1＝3121。P 2 (l) The value of the first point in the step (2) is taken as AX 2 (k) Int {0.9876 × [ (320/0.9876) + (l-1)/20 ]]X 20} +1 points.
Step five: based on the aforementioned lambda i,j ,P i (l) And P j (l) According to
And calculating a cost function value corresponding to the currently assumed sound source distance.For the above assumption that the horizontal distance of sound source is r a In the case of=5 km, the calculation result of the cost function is F (5) =1.94, and F (8) =2.67, F (15) =1.58, and the like can be calculated by the same method.
Step six: in the range of 0.5km to 20km, the grids are divided in steps of 0.1639 km. Repeating the third step to the fifth step for all the search grids, and calculating and storing the cost function values corresponding to all the grid points. The cost function calculation result is shown in fig. 4. The peak position of the cost function is the estimation result of the sound source distance, and the estimation result of the sound source distance is r e ＝8.038km。
Step seven: for any one hydrophone (taking m=1 as an example), the estimated sound source distance r is based on the step six e =8.038 km vs. I obtained in step two 1 (q), q=1, 2, …,3201, modified fourier transform:
wherein c zr,1 = 1546.0m/s is the sound velocity value at the 1 st hydrophone depth, ζ (c zr,1 ,u 1e ) Calculated from the following formula:
u 1e calculated by a numerical method based on the following,
c w calculated from the following formula:
where c (z) represents the sound velocity value at depth z, z s-max =200m represents the maximum possible sound source depth. The numerical calculation results are as follows:u 1e ＝0.4725。
and (3) sequentially performing operations in the step seven on the 3 hydrophones respectively, and calculating to obtain a corrected Fourier transform normalized output result of each hydrophone, wherein the corrected Fourier transform normalized output result is shown in figure 5. And correcting the position of the peak value of the Fourier transform output to obtain the sound source depth estimation result of the hydrophone. The sound source depth estimation results given by the three hydrophones are respectively as follows: 70.16m,68.8m,67.6m.
The above steps are completed, and the estimated result of the sound source distance is finally obtained to be 8.038km, the error is 0.47%, and the estimated results of the sound source depth given by the three hydrophones are respectively: 70.16m,68.8m,67.6m; the corresponding depth estimation errors were 0.23%,1.7%,3.4%, respectively. In contrast, the positioning fuzzy surface (the distance scanning step length is 0.1639km, the depth scanning step length is 1 m) of the existing sound intensity distribution matching method is given, and the positioning fuzzy surface is shown in fig. 6. It can be seen that at this time, because of the small number of hydrophones, the spatial sampling of the sound field is insufficient, the sound intensity matching method fails, the blurred surface peak appears at r=16.89 km, and z=157 m, and the sound source position cannot be estimated correctly.
In terms of operation time, under a Matlab platform with a version of 2018b (a computer host: a main frequency 3.5GHz, and an operation memory 24G computer), the operation time required by the method and the sound intensity matching method provided by the invention is 10.2s and 636.4s respectively.
Compared with the existing sound intensity distribution matching method, the method provided by the invention can be better suitable for the situation that the number of hydrophones is small. Meanwhile, the calculation speed of the method is obviously accelerated.
Claims (4)
1. A passive sound source positioning method of a deep sea large-depth vertical distributed hydrophone is characterized by comprising the following steps:
step one: in a typical deep sea environment, M hydrophones distributed vertically are distributed near the sea bottom to receive broadband signals sent by sound sources near the sea surface; the distribution depth of the M hydrophones is z respectively r,1 ,z r,2 ,…,z r,M Sampling frequency f s The method comprises the steps of carrying out a first treatment on the surface of the The horizontal distance of sound source is r, and the depth is z s The method comprises the steps of carrying out a first treatment on the surface of the The sound source radiates broadband signals with the frequency band of B= [ f ] l ,f h ]Wherein f l And f h Respectively representing a lower limit and an upper limit of a sound source signal frequency band; recording the signal acquisition time length of all hydrophones as T, and recording the signal received by the mth hydrophone as x m (N), wherein n=1, 2, …, N represents a time domain discrete sample point number;
step two: sequentially carrying out Fourier transformation on the received signals of the M hydrophones, and extracting a spectrum sequence of the received signals in a frequency band B; the specific operation flow is as follows:
for each hydrophone (m-th example), a signal x is received for it m (n) performing fast Fourier transform to obtain a spectrum of
AX m (k)＝|FFT{x m (n)}| (1)
Wherein FFT { · } represents fast fourier transform, |·| represents modulo arithmetic, k=1, 2, …, N is fast fourier transform output point sequence number; AX is taken m (k) Of the (int { f) l T } +1 to int { f h T } +1 points are taken as an in-band spectrum sequence of the mth hydrophone and are marked as I m (q),q＝1,2,…,Q；Q＝int{f h T}-int{f l T } +1; int { · } represents a rounding operation;
step three: grouping M hydrophones in pairs to obtain
The group hydrophones, under the assumed horizontal distance of sound source, operate the following operation on the spectrum sequence of each group hydrophone by means of the known sound velocity profile information:
for each group of hydrophones (i and j are taken as examples), the deployment depth is z respectively r,i And z r,j And z r,i <z r,j The method comprises the steps of carrying out a first treatment on the surface of the Let the assumed sound source distance be r a Calculating the parameter lambda i,j
Wherein c zr,i And c zr,j Respectively the depth ofz r,i And z r,j Sound velocity value at, ζ (c zr,i/j ,u i/j ) Calculated from the following formula:
wherein u is i/j Calculated by a numerical method based on the following,
c w calculated from the following formula:
where c (z) represents the sound velocity value at depth z, z s-max Representing the maximum possible sound source depth;
step four: extraction of AX i (k) Of (1) int { (f) l /Λ i,j ) T } +1 to int { f h T } +1 points, denoted as P i (l),l＝1,2,…,L；L＝int{f h T}-int{(f l /Λ i,j ) T } +1; thereafter, the sequence P is constructed j (l)，l＝1,2,…,L；L＝int{f h T}-int{(f l /Λ i,j )T}+1；P j (l) The value of the first point in the step (2) is taken as AX j (k) Int { Λ ] i,j [(f l /Λ i,j )+(l-1)/T]T } +1 points; int { · } represents a rounding operation;
step five: according to the aforementioned lambda i,j ,P i (l) And P j (l) According to
Calculating a currently assumed sound source distance r a A corresponding cost function value;
step six: to a certain extent including the true sound source distanceDividing distance search grids according to the precision requirement, repeating the third to fifth steps for all the search grids, and calculating and storing the cost function values corresponding to all the grid points; the peak position of the cost function is the estimation result of the sound source distance, and the estimation result of the sound source distance is recorded as r e ；
Step seven: for any hydrophone (mth example), the sound source distance r estimated based on step six e For I obtained in the second step m (q) performing a modified fourier transform:
wherein c zr,m For the sound velocity value at the mth hydrophone depth, ζ (c zr,m ,u me ) Calculated from the following formula:
u me calculated by a numerical method based on the following,
c w calculated from the following formula:
where c (z) represents the sound velocity value at depth z, z s-max Representing the maximum possible sound source depth;
finally, the Fourier transform output M is modified m The peak position of (z) is the sound source depth estimation result given by the mth sensor.
2. The method for passive sound source localization of deep sea large depth vertical distributed hydrophone according to claim 1, wherein the number M of hydrophones is not less than 3.
3. The passive sound source localization method of the deep sea large depth vertical distributed hydrophone according to claim 1, which is applicable to a broadband sound source near the sea surface, wherein the sound source depth is not less than 10m, and the frequency bandwidth of the sound source signal is not less than 150Hz.
4. The deep sea large depth vertical distributed hydrophone passive acoustic source positioning method of claim 1, wherein the method is applicable to beam output signals of a plurality of arrays vertically distributed in addition to the plurality of omni-directional hydrophone receive signals vertically distributed.
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| CN116840842A (en) * | 2023-06-02 | 2023-10-03 | 哈尔滨工程大学 | Sound source passive positioning system and positioning method based on cross-correlation function matching of received signals of deep-sea convergence zone |
| CN117169816A (en) * | 2023-11-03 | 2023-12-05 | 西北工业大学青岛研究院 | Passive positioning method, medium and system for broadband sound source in deep sea sound shadow area |
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| CN116840842A (en) * | 2023-06-02 | 2023-10-03 | 哈尔滨工程大学 | Sound source passive positioning system and positioning method based on cross-correlation function matching of received signals of deep-sea convergence zone |
| CN117169816A (en) * | 2023-11-03 | 2023-12-05 | 西北工业大学青岛研究院 | Passive positioning method, medium and system for broadband sound source in deep sea sound shadow area |
| CN117169816B (en) * | 2023-11-03 | 2024-02-02 | 西北工业大学青岛研究院 | Passive positioning method, medium and system for broadband sound source in deep sea sound shadow area |
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