CN117169816B - Passive positioning method, medium and system for broadband sound source in deep sea sound shadow area - Google Patents
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Abstract
The invention provides a passive positioning method, medium and system for a broadband sound source in a deep sea sound shadow area, which belong to the technical field of positioning methods, and comprise the following steps: in the vertical direction of the offshore surfaceThe hydrophones receive broadband signals sent by sound sources near the sea surface in the sound-shadow area; for a pair ofThe received signals of the hydrophones are respectively subjected to Fourier transformation, and a frequency spectrum amplitude sequence of the hydrophones in a frequency band is extracted; calculating the frequency spectrum amplitude fluctuation periodic component related to the depth and the distance of the sound source simultaneously through each hydrophone frequency spectrum amplitude sequence; calculating a spectrum amplitude fluctuation periodic component related to the sound source distance through each hydrophone spectrum amplitude sequence; calculating estimated values of the sound source depth and the distance according to the obtained frequency spectrum amplitude fluctuation periodic components related to the sound source depth and the distance at the same time and the frequency spectrum amplitude fluctuation periodic components related to the sound source distance; helps to improve sound source localizationAccuracy and reliability of (a).
Description
Technical Field
The invention belongs to the technical field of positioning methods, and particularly relates to a passive positioning method, medium and system for a broadband sound source in a deep sea sound shadow area.
Background
The conventional deep sea sound source positioning method is a matching field positioning processing method or a method based on characteristics such as an arrival angle, and the method needs a synchronous array to obtain synchronous time information or angle arrival information, however, in deep sea, the synchronous array may generate nonlinear time drift along with the increase of the laying time, and positioning performance is seriously affected.
The Chinese patent with publication number CN107085216A (application number CN 201710260413.7) discloses a deep sea sound passive distance and depth measuring method based on a single hydrophone, which comprises the following steps: 1) The underwater target noise recording equipment is used for observing, recording the depth of the receiving hydrophone, and measuring the sea depth and the sound velocity profile of the laid sea area; 2) Selecting a time domain signal of a single hydrophone in noise recording equipment for time-frequency analysis, observing whether the received signal has two fringes with equal frequency domain intervals in a frequency band of 0-1 kHz, judging that an underwater target exists in a first shadow area of the received hydrophone if the two fringes with equal frequency domain intervals exist, and extracting two interference periods according to spectrum analysis of the signal acquired by the single hydrophone; 3) According to the acquired sound velocity profile, sea depth and receiving depth information, calculating a change curve of a second frequency domain interference period along with the propagation distance under the receiving depth through simulation, and matching the actually acquired second frequency domain interference period with the change curve to obtain the sound source distance; 4) And according to the acquired sound velocity profile, sea depth, receiving depth information and estimated sound source distance information, simulating and calculating a change curve of the first frequency domain interference period along with the sound source depth, and matching with the actually acquired first frequency domain interference period to obtain the sound source depth.
According to the deep sea underwater sound passive ranging and sounding method based on the single hydrophone, the target is required to move at a uniform speed along the radial direction and observe for a long time, otherwise, the sound field is not sampled enough to cause performance degradation or even failure. Meanwhile, the method needs higher signal-to-noise ratio when observing and separating the spectrum interference period, and the interference period is difficult to extract in practical situations, so that the reliability is lower.
Disclosure of Invention
In view of the above, the invention provides a passive positioning method, medium and system for a broadband sound source in a deep sea sound shadow area, which can solve the problems that the sound source positioning needs a synchronous sensor array, the positioning needs long-time observation by utilizing a frequency spectrum amplitude interference period and the interference period is difficult to extract in a deep sea environment.
The invention is realized in the following way:
the first aspect of the invention provides a passive positioning method for a broadband sound source in a deep sea sound shadow area, which comprises the following steps:
s10, arranging in the offshore vertical directionThe hydrophones receive broadband signals sent by sound sources near the sea surface in the sound-shadow area;
s20, toThe received signals of the hydrophones are respectively subjected to Fourier transformation, and a frequency spectrum amplitude sequence of the hydrophones in a frequency band is extracted;
s30, calculating the frequency spectrum amplitude fluctuation periodic component related to the depth and the distance of the sound source simultaneously through each hydrophone frequency spectrum amplitude sequence;
s40, calculating a spectrum amplitude fluctuation periodic component related to the sound source distance through the spectrum amplitude sequence resampled by each hydrophone;
s50, calculating estimated values of the sound source depth and the distance according to the obtained frequency spectrum amplitude fluctuation periodic component related to the sound source depth and the distance at the same time and the resampled frequency spectrum amplitude fluctuation periodic component related to the sound source distance.
The invention provides a passive positioning method for a broadband sound source in a deep sea sound shadow area, which has the following technical effects: the periodic components with fluctuating frequency spectrum amplitude are extracted to solve the problems that a synchronous sensor array is needed for sound source positioning in a deep sea environment, long-time observation is needed for positioning by utilizing the interference period of the frequency spectrum amplitude, the interference period is difficult to extract and the like; the use of the time insensitive feature of non-synchronized sensor array spectral magnitudes helps reduce the synchronized sensor array requirements for sound source localization. The processing gain under the asynchronous sensor can be obtained by a secondary spectrum summation technology of a plurality of asynchronous sensors, so that the estimation certainty of the target position is improved; the method combines spectrum amplitude sequence analysis, instantaneous observation and asynchronous sensor arrays to overcome the challenges of sound source localization in deep sea environment; it helps to improve the accuracy and reliability of sound source localization.
Based on the technical scheme, the passive positioning method of the broadband sound source of the deep sea sound shadow area can be further improved as follows:
wherein the arrangement is in the vertical direction at the offshore surfaceThe specific steps of receiving broadband signals sent by sound sources near the sea surface in the sound film area by the hydrophones are as follows:
the hydrophone is arranged with depth of +.>Sampling frequency is +.>The method comprises the steps of carrying out a first treatment on the surface of the The horizontal distance of the sound source is +.>Depth of +.>The method comprises the steps of carrying out a first treatment on the surface of the The sound source radiates a broadband signal with a frequency band in the range +.>，/>And->Respectively representing an upper limit and a lower limit of a sound source signal frequency band;
the signal acquisition duration of all the hydrophones is as followsFirst->The signals received by the hydrophones are recorded asWherein->Representing the time domain discrete sample point sequence number.
Further, the step of performing fourier transform on the received signals of the M hydrophones includes:
for each hydrophone, performing fast Fourier transform on the received signal to obtain a frequency spectrum amplitude sequence:
for the firstIndividual hydrophone receive signal->Performing fast Fourier transform to obtain a frequency spectrum amplitude sequence as follows:
；
wherein,representing a sequence of spectral magnitudes, ">Representing the fast fourier transform, ">The operation of taking the modulus is shown,outputting a point sequence number for the fast Fourier transform;
taking a sequence of spectral magnitudesMiddle->To->The point is the->In-band spectral amplitude sequences of individual hydrophones, denoted +.>，/>；
；
Wherein,representing from->To->Is the number of points of the spectral amplitude sequence, i.e. in-band spectral amplitude sequence +.>Is provided for the length of (a),representing four housesFive-in rounding operation.
The beneficial effects of adopting above-mentioned improvement scheme are: in the frequency domain analysis, due to the time weak sensitivity characteristic of the frequency domain amplitude, the small-scale time drift of the hydrophone hardly influences the frequency spectrum amplitude, which is helpful for realizing the joint processing among the unsynchronized hydrophones. The Fourier transform is performed on the received signals of the M hydrophones, so that the analysis of the frequency domain amplitude fluctuation angle is facilitated, the information about the sound source is extracted, the noise interference is reduced from the frequency spectrum fluctuation angle, and various applications such as sound source positioning and tracking are realized.
Further, the calculating step of the frequency spectrum amplitude fluctuation periodic component related to the sound source depth and the distance simultaneously comprises the following steps:
；
wherein,representing the periodic component of the amplitude fluctuation of the spectrum in relation to both the depth and the distance of the sound source, +.>Indicate->And the hydrophones are used for carrying out secondary spectrum sequences after zero setting operation according to the first depth and the distance range interval of the sound source.
And selecting an analysis frequency band, and performing fast Fourier transform on the frequency spectrum amplitude in the frequency band of the signals received by each hydrophone to obtain a secondary spectrum of the signals received by each hydrophone.
Further, the calculating step of the secondary spectrum sequence after the zeroing operation according to the first depth and the first distance range interval of the sound source is as follows:
；
wherein,outputting a point sequence number for the fast Fourier transform;
；
wherein,and->First depth representing the smallest sound source and the largest sound source +.>And->First distance representing the smallest sound source and the largest sound source,/->Represents average sea depth, < >>Representing the average sound velocity.
And (3) carrying out normalization and summation on the secondary spectrum after setting zero according to the target depth and distance interval range, and recording the maximum peak value as a spectrum amplitude oscillation period which is simultaneously related to the depth and the distance.
Further, the calculating step of the spectrum amplitude fluctuation periodic component related to the sound source distance comprises the following steps:
；
wherein,representing the spectral amplitude fluctuation period component in relation to the sound source distance +.>Indicate->Individual hydrophones are dependent on the receiving depth->For->And after resampling, carrying out secondary spectrum sequence after zero setting operation according to the first depth and the first distance range interval of the sound source.
Further, after resampling the in-band spectrum amplitude sequence of the mth hydrophone according to the receiving depth, the computing step of the secondary spectrum sequence after zero setting operation is performed according to the first depth and the first distance range interval of the sound source is as follows:
；
wherein,representation->After resampling with the reception depth and adding 0 to length +.>Is a sequence of spectral magnitudes;
；
wherein,operator representation will +.>Sequence resampling to length +.>Sequence of->Is the base sequence length; />Outputting a point sequence number for the fast Fourier transform;
。
the beneficial effects of adopting above-mentioned improvement scheme are: by calculating the sound source depth, distance dependent periodic components, it can be used to determine the position of the sound source. Due to the multi-path interference effect, broadband signals radiated by sound sources at different positions are propagated through the underwater acoustic channel, and different frequency spectrum amplitude fluctuation periodic components can be generated at a receiving end; by analysing the periodic components, it is possible to help distinguish between the arrival signals of different paths, and to calculate the sound source position using multipath.
By resampling the in-band spectrum amplitude sequence with the receiving depth, the method is beneficial to acquiring the spectrum amplitude fluctuation periodic components of hydrophones with different depths, which are only related to the sound source distance, and can acquire the information of the sound source distance more accurately; the in-band secondary spectrum sequences are summed to obtain the same spectrum amplitude fluctuation periodic component of hydrophones with different depths; if certain frequency components are not associated with the first depth and first distance range of the sound source, the zeroing operation may help reduce these uncorrelated frequency components, thereby improving the signal-to-noise ratio of the signal and noise; the zeroing operation may also highlight frequency components associated with the first depth and the first distance range of the sound source to be more pronounced. This is very useful for sound source localization and object detection.
Further, the calculating the estimated value of the sound source depth and the distance according to the obtained frequency spectrum amplitude fluctuation periodic component related to the sound source depth and the distance and the frequency spectrum amplitude fluctuation periodic component related to the sound source distance comprises the following specific steps:
；
；
wherein,estimated value representing sound source depth, +.>An estimated value representing the sound source distance.
The beneficial effects of adopting above-mentioned improvement scheme are: by using the spectral amplitude fluctuation period component, the depth and distance of the sound source can be accurately estimated. This is critical for target localization in applications such as underwater, radar and sonar; by analyzing the periodic variation of the spectral amplitude, the distance from the sound source to the receiver and the depth at which the sound source is located can be determined; by analyzing the periodic components of the spectral amplitude, it is possible to help distinguish between different sound line arrival paths, thereby determining the sound source position; accurate estimation of sound source depth and distance can improve target detection performance.
A second aspect of the present invention provides a computer readable storage medium, wherein the computer readable storage medium stores program instructions, and the program instructions are executed to perform a method for passive localization of a broadband sound source in a deep sea sound shadow region as described above.
A third aspect of the present invention provides a passive localization system for broadband sound sources in deep sea sound shadow areas, comprising the computer readable storage medium described above.
Compared with the prior art, the passive positioning method for the broadband sound source in the deep sea sound shadow area has the beneficial effects that:
1: positioning accuracy is improved: traditional sonar systems or synchronous arrays may be affected by a variety of factors in a complex deep sea environment, such as changes in sea water temperature, salinity, and depth, thereby affecting the accuracy of positioning; a more advanced passive localization method can improve the accuracy of sound source localization;
2: simplifying equipment requirements: the complex synchronous sensor array is not needed any more, so that the cost can be reduced, and the layout and maintenance work can be simplified;
3: the operation efficiency is improved: since long-time observation is not needed, the method can more quickly locate the sound source, thereby improving the efficiency of the whole operation;
4: enhancing system robustness: under unfavorable environments, such as the situations that the hydrologic environment is inaccurately known, the target observation distance is limited or the signal to noise ratio is low, the traditional method can be difficult to work; the passive positioning method of the broadband sound source is not dependent on accurate environment information and long-term observation of the target, so that the passive positioning method of the broadband sound source is possibly more robust;
5: expanding the application range: the method can be suitable for more deep sea exploration and research tasks, such as deep sea ecological research, geological investigation, submarine monitoring and the like, and provides more accurate and efficient sound source positioning information;
6: the data processing efficiency is improved: because the interference period extraction which is not dependent on long-term observation is not needed, the data processing process can be more concise and rapid, and therefore the efficiency of data processing and analysis is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method, medium and system for passive localization of broadband sound sources in a deep sea sound shadow;
FIG. 2 is a diagram of steps of a method, medium and system for passive localization of broadband sound sources in a deep sea sound shadow;
FIG. 3 is a schematic view of sound velocity profile of a simulation scenario of the present invention;
FIG. 4 is an exemplary diagram of time domain received signals for different receiving hydrophones;
FIG. 5 is an exemplary diagram of an in-band spectral amplitude sequence before resampling of the various receiving hydrophones;
FIG. 6 is a diagram of an exemplary secondary spectral sequence prior to resampling of the various receiving hydrophones;
FIG. 7 is an exemplary graph of a sequence of secondary spectra superimposed prior to resampling by different receiving hydrophones;
FIG. 8 is a diagram of an exemplary resampled in-band spectral amplitude sequence for a different receiving hydrophone;
FIG. 9 is an exemplary graph of a resampled secondary spectrum sequence for a different receiving hydrophone;
fig. 10 is an exemplary plot of a sequence of resampled secondary spectra of different receiving hydrophones.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1, a first embodiment of a passive positioning method for a broadband sound source in a deep sea sound shadow area according to a first aspect of the present invention includes the following steps:
s10, arranging in the offshore vertical directionThe hydrophones receive broadband signals sent by sound sources near the sea surface in the sound-shadow area;
s20, toThe received signals of the hydrophones are respectively subjected to Fourier transformation, and a frequency spectrum amplitude sequence of the hydrophones in a frequency band is extracted;
s30, calculating the frequency spectrum amplitude fluctuation periodic component related to the sound source depth and the distance simultaneously through each hydrophone frequency spectrum amplitude sequence;
s40, resampling a frequency spectrum amplitude sequence through each hydrophone, and calculating a matched amplitude fluctuation periodic component related to the sound source distance;
s50, calculating estimated values of the sound source depth and the distance according to the obtained frequency spectrum amplitude fluctuation periodic components related to the sound source depth and the distance and the frequency spectrum amplitude fluctuation periodic components related to the sound source distance.
And (3) performing Fourier transform directly after performing Fourier transform on the in-band spectrum amplitude sequences obtained by performing Fourier transform on the time domain received signals of each hydrophone, and obtaining a first interference period related to the depth and the distance of the sound source simultaneously by superposing and searching peaks. And resampling the spectrum amplitude sequence in each hydrophone band according to the receiving depth, then carrying out Fourier transform, and superposing and searching peaks to obtain a second interference period only related to the sound source distance. And calculating the sound source depth and distance estimation value through the obtained two interference periods. In a typical deep sea environment, the method can accurately separate the spectrum amplitude interference period under the observation condition of an asynchronous hydrophone so as to realize the estimation of the sound source position in a deep sea sound shadow area.
As shown in fig. 2, wherein in the above technical solution, the arrangement is in the vertical direction of the offshore surfaceThe specific steps of receiving broadband signals sent by sound sources near the sea surface in the sound film area by the hydrophones are as follows:
the arrangement depth of each hydrophone is +.>Sampling frequency is +.>The method comprises the steps of carrying out a first treatment on the surface of the The horizontal distance of the sound source is +.>Depth of +.>The method comprises the steps of carrying out a first treatment on the surface of the The sound source radiates a broadband signal with a frequency band in the range +.>，/>And->Respectively representing an upper limit and a lower limit of a sound source signal frequency band;
the signal acquisition duration of all hydrophones is as followsFirst->The signal received by the individual hydrophones is recorded as +.>WhereinRepresenting the time domain discrete sample point sequence number.
It should be noted that FFT represents a fast fourier transform (Fast Fourier Transform), which is a mathematical algorithm for converting a signal from the time domain to the frequency domain. It is an algorithm that performs fourier transforms on discrete signals. The FFT may be used to convert a signal from its time domain representation (e.g., audio, electrical signal, or any time domain data) to a frequency domain representation, showing the frequency content and strength of the signal. The FFT modulo operation is to perform a modulo operation on the complex result output by the FFT to obtain the amplitude spectrum, i.e. the intensity information of the frequency component, and ignore the phase information. The FFT output is typically complex, including real and imaginary parts, while the FFT modulo is the amplitude value that converts the complex to the corresponding frequency.
Further, in the above technical solution, the step of performing fourier transform on the received signals of the M hydrophones includes:
for each hydrophone, performing fast Fourier transform on the received signal to obtain a frequency spectrum amplitude sequence:
for the firstIndividual hydrophone receive signal->Performing fast Fourier transform to obtain a frequency spectrum amplitude sequence as follows:
；
wherein,representing a sequence of spectral magnitudes, ">Representing the fast fourier transform, ">The operation of taking the modulus is shown,outputting a point sequence number for the fast Fourier transform;
taking a sequence of spectral amplitude mapsMiddle->To->The point is the->In-band spectral amplitude sequences of individual hydrophones, denoted +.>，/>；
；
Wherein,representing from->To->Points of the sequence of spectral amplitude diagrams, i.e. in-band sequence of spectral amplitude +.>Length of->Representing a rounding operation.
Further, in the above technical solution, the calculating steps of the periodic component of the fluctuation of the frequency spectrum amplitude related to the depth and the distance of the sound source simultaneously include:
；
wherein,representing the periodic component of the amplitude fluctuation of the spectrum in relation to both the depth and the distance of the sound source, +.>Indicate->And the hydrophones are used for carrying out secondary spectrum sequences after zero setting operation according to the first depth and the distance range interval of the sound source.
Further, in the above technical solution, the calculating steps of the secondary spectrum sequence after the zeroing operation according to the first depth and the first distance range interval of the sound source are:
；
wherein,outputting a point sequence number for the fast Fourier transform;
；
wherein,and->First depth representing the smallest sound source and the largest sound source +.>And->First distance representing the smallest sound source and the largest sound source,/->Represents average sea depth, < >>Representing the average sound velocity.
Further, in the above technical solution, the calculating steps of the spectrum amplitude fluctuation periodic component related to the sound source distance are:
；
wherein,representing the spectral amplitude fluctuation period component in relation to the sound source distance +.>Indicate->Individual hydrophones are dependent on the receiving depth->For->And after resampling, carrying out secondary spectrum sequence after zero setting operation according to the first depth and the first distance range interval of the sound source.
Further, in the above technical solution, after resampling the in-band spectrum amplitude sequence of the mth hydrophone according to the receiving depth, the calculating step of the secondary spectrum sequence after the zeroing operation according to the first depth and the first distance range interval of the sound source is as follows:
；
wherein,representation->After resampling at the receiving depth and adding 0 to length +.>Is a sequence of spectral magnitudes;
；
wherein,operator representation will +.>Sequence resampling to length +.>Sequence of->Is the base sequence length; />Outputting a point sequence number for the fast Fourier transform;
。
further, in the above technical solution, according to the obtained spectrum amplitude fluctuation periodic component related to the sound source depth and the distance at the same time and the obtained spectrum amplitude fluctuation periodic component related to the sound source distance, the estimated value of the sound source depth and the distance is calculated, and the specific steps are as follows:
；
；
wherein,estimated value representing sound source depth, +.>An estimated value representing the sound source distance.
As shown in fig. 1, a second embodiment of a passive localization method for a broadband sound source in a deep sea sound shadow area according to a first aspect of the present invention includes the following steps:
1. deep sea waveguide environment, sound source and vertical receiving hydrophone:
in order to verify the effectiveness of the method, a computer simulation experiment is utilized. The embodiment considers a typical deep sea environment, the sea depthThe sound velocity profile of seawater is shown in figure 3, and the seawater density is +.>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 +.>Density is->The attenuation coefficient of the seabed substrate compression wave is +.>. At the offshore end 200-500m, 7 receiving hydrophones are co-located every 50 m. The sound source depth is +.>Horizontal distance。
2. Each hydrophone receives signals:
the present embodiment models the sound source as a chirp signal with a pulse width of 2s, the bandwidth. The Bellhop acoustic field model was used to simulate the received signals of 7 hydrophones: 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 time of each hydrophone is 40s. The sampling frequency of the hydrophones is +.>。
The simulation method of the received signal comprises the following steps: and for receiving hydrophones with different depths, calculating the sound ray arrival time and amplitude from the sound source position to the hydrophone by using a Bellhop sound field model. And then, using the arrival structures of the sound rays to form signal impulse response, and carrying out time domain convolution on the sound source signal and the channel impulse response to obtain a hydrophone receiving time domain signal. Finally, adding noise into the simulation signal according to the signal-to-noise ratio, and assuming that each hydrophone is in a frequency bandInternal jointThe signal-to-noise ratios are +.>And carrying out the above received signal simulation on 7 hydrophones in turn to obtain received signals of all hydrophones as shown in figure 4.
3. A sound source passive localization method of a deep sea sound film area asynchronous hydrophone comprises the following steps:
step (1): in a typical deep sea environment, 7 hydrophones are deployed in the vertical direction at the offshore surface to receive broadband signals from sound sources near the sea surface in the sound shadow zone. Depth of deployment of 7 hydrophones200, 250, 300, 350, 400, 450, 500m, respectively, sampling frequency. The sound source depth is +.>Horizontal distance->. Broadband signal radiated by sound source, bandwidth. The signal collecting time length of all hydrophones is 40s, the first ∈>The signal received by the individual hydrophones is recorded as +.>Wherein->Representing the time domain discrete sample point sequence number. This step in this embodiment has been accomplished by Bellhop acoustic field model simulation.
Step (2): fourier transforming the received signals of 7 hydrophones and extracting the frequency bandsA sequence of spectral magnitudes within. The specific operation flow is as follows:
for each hydrophone (1 st example), a signal is received for itPerforming fast Fourier transform to obtain a spectrum amplitude sequence of which is as follows:
；
wherein,representing a sequence of spectral magnitudes, ">Operator represents the fast fourier transform,>the operation of taking the modulus is shown,the point sequence number is output for the fast fourier transform. Get->Middle->To->The in-band spectral amplitude sequence with a point as 1 st hydrophone is recorded +.>，。/>. In-band hydrophoneThe spectral magnitudes are shown in fig. 5.
Step (3) calculating the frequency spectrum amplitude fluctuation periodic component related to the sound source depth and the distance simultaneously through each hydrophone frequency spectrum amplitude sequence；
；
Wherein the method comprises the steps ofIndicate->The secondary spectrum sequence of the hydrophone after the zero setting operation is carried out according to the possible depth and the distance range interval of the sound source;
；
wherein the method comprises the steps ofThe point sequence number is output for the fast fourier transform. Selecting a first depth interval range->First distance interval range，/>Calculating to obtain->. The sequence of the secondary spectrum of each hydrophone after zeroing operation is shown in figure 6. The result of superposition of secondary spectrum sequences of each hydrophone is shown in FIG. 7, where the peak corresponds to +.>Calculating to obtain->；
Step (4) calculating the frequency spectrum amplitude fluctuation periodic component only related to the sound source distance through each hydrophone frequency spectrum amplitude sequence：
；
Wherein the method comprises the steps ofIndicate->Individual hydrophones are dependent on the receiving depth->For->After resampling, a secondary spectrum sequence is performed according to the first depth of the sound source and the zero setting operation of the distance range interval;
；
wherein the method comprises the steps ofRepresentation->After resampling with the receiving depth and adding 0 to the length of the sampleIs provided.
；
SelectingIs the base sequence length. The sequence of transformed spectral amplitude for each hydrophone is shown in figure 8.
The point sequence number is output for the fast fourier transform. />. The secondary spectrum sequence of each hydrophone spectrum amplitude after resampling and zero setting operation is shown in fig. 9. The result of superposition of secondary spectrum sequences of each hydrophone is shown in FIG. 10, where the peak corresponds to +.>Calculated to obtain；
Step (5) based on the obtained periodic componentAnd->Calculating estimated values of the depth and the distance of the sound source;
；
；
after the above steps are completed, the sound source depth estimation result is 121.1m, the error is 0.92%, the distance estimation result is 18.5km, and the error is 3.93%.
A second aspect of the present invention provides a computer readable storage medium, wherein the computer readable storage medium stores program instructions, and the program instructions are executed to perform a method for passive localization of a broadband sound source in a deep sea sound shadow region as described above.
A third aspect of the present invention provides a passive localization system for broadband sound sources in deep sea sound shadow areas, comprising the computer readable storage medium described above.
Specifically, the principle of the invention is as follows:
1: due to the obvious multi-path arrival characteristics of deep sea, the frequency spectrum amplitude of the broadband target receiving signal can generate a periodic fluctuation phenomenon, and the periodic fluctuation structure contains target depth and distance information; according to the method, the target position is calculated by extracting periodic components of the fluctuation of the frequency spectrum amplitude;
2: a plurality of underwater target noise recording devices are distributed in the vertical direction of the offshore surface for observation, radiation signals of a near-sea surface broadband sound source are collected, and sea depths of a distributed sea area and the distribution depth of each hydrophone are recorded;
3: performing fast Fourier transform on broadband signals acquired by each hydrophone, and obtaining the spectrum amplitude of the received signals after taking a modulus value;
4: selecting an analysis frequency band, performing fast Fourier transform on the frequency spectrum amplitude in the frequency band of the received signal of each hydrophone to obtain a secondary spectrum of the received signal of each hydrophone, carrying out zero setting on the secondary spectrum according to a target depth and a distance interval range, normalizing and summing, and recording a maximum peak value as a frequency spectrum amplitude oscillation period which is simultaneously related to the depth and the distance;
5: selecting an analysis frequency band, resampling the frequency spectrum amplitude in the frequency band of the received signal of each hydrophone with the receiving depth, performing fast Fourier transform on the frequency spectrum amplitude to obtain a resampled secondary spectrum of the received signal of each hydrophone, zeroing the secondary spectrum with the target depth and the range of the distance interval, normalizing the secondary spectrum, summing the normalized secondary spectrum, and recording the maximum peak value as a frequency spectrum amplitude oscillation period which is only related to the distance;
6: calculating target depth and distance information through two periods by utilizing a geometric relationship;
7: the invention provides a positioning result through computer numerical simulation processing, so that the result proves the effectiveness of the method.
Claims (10)
1. A passive positioning method of a broadband sound source in a deep sea sound shadow area is characterized by comprising the following steps:
s10, arranging M hydrophones in the offshore surface vertical direction to receive broadband signals sent by sound sources near the sea surface in a sound shadow area;
s20, performing Fourier transformation on the received signals of M hydrophones respectively, and extracting a frequency spectrum amplitude sequence of the hydrophones in a frequency band;
s30, calculating the frequency spectrum amplitude fluctuation periodic component related to the depth and the distance of the sound source simultaneously through each hydrophone frequency spectrum amplitude sequence;
s40, calculating a spectrum amplitude fluctuation periodic component related to the sound source distance through the spectrum amplitude sequence after resampling of each hydrophone;
s50, calculating estimated values of the sound source depth and the distance according to the obtained frequency spectrum amplitude fluctuation periodic component related to the sound source depth and the distance and the obtained frequency spectrum amplitude fluctuation periodic component related to the sound source distance.
2. The method for passively positioning the broadband sound source in the deep sea sound shadow according to claim 1, wherein the specific steps of arranging M hydrophones in the vertical direction of the offshore surface to receive the broadband signals sent by the sound source near the sea surface in the sound shadow are as follows:
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 the 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, and the band range is B= [ f ] l ,f h ]，f l And f h Respectively representing an upper limit and a lower limit of a sound source signal frequency band;
the signal acquisition duration of all the hydrophones is T, and the signal received by the mth hydrophone is recorded as x m (N), where n=1, 2, …, N represents a time domain discrete sample point number.
3. The method for passively positioning a broadband sound source in a deep sea shadow according to claim 2, wherein the step of fourier transforming the received signals of the M hydrophones, respectively, comprises:
for each hydrophone, performing fast Fourier transform on the received signal to obtain a frequency spectrum amplitude sequence:
for receiving signal x from mth hydrophone m (n) performing fast fourier transform to obtain a spectrum amplitude sequence of:
AX m (k)＝|F{x m (n)}|；
wherein AX m (k) The method comprises the steps of representing a frequency spectrum amplitude sequence, wherein an F { · } operator represents fast Fourier transform, an |·| represents modulo operation, k=1, 2, …, and N is a fast Fourier transform output point sequence number;
taking a sequence of spectral magnitudes AX m (k) Of the (int { f) l T } +1 to int { f h T+1 points are used as the in-band spectrum amplitude sequence of the mth hydrophone and are marked as s m (q)，q＝1,2,…Q；
Q＝int{f h T}-int{f l T}+1；
Wherein Q represents a value of from f l To f h Points of the matching amplitude sequence, i.e. in-band spectral amplitude sequence s m Length of (q), int { · } represents rounding operation.
4. A method for passive localization of a wideband sound source in a deep sea shadow according to claim 3, wherein the step of calculating the periodic component of the fluctuation of the frequency spectrum amplitude in relation to the depth and the distance of the sound source is:
wherein T is Rz Representing spectral amplitude fluctuation periodic components, AS, related to both sound source depth and distance m (eta) represents the first depth and distance range interval position of the mth hydrophone according to the sound sourceA sequence of secondary spectra after zero operation.
5. The method for passively positioning a broadband sound source in a deep sea sound shadow according to claim 4, wherein the step of calculating the secondary spectrum sequence after the zeroing operation according to the first depth and the first distance range of the sound source is as follows:
wherein η=1, 2, …, Q is the fft output point number;
wherein z is s,min And z s,max A first depth representing a minimum sound source and a maximum sound source, r min And r max A first distance representing a minimum sound source and a maximum sound source, H representing an average sea depth, and c representing an average sound velocity.
6. The method for passively locating a broadband sound source in a deep sea sound shadow according to claim 5, wherein the step of calculating periodic components of amplitude fluctuation of the frequency spectrum in relation to the distance of the sound source is:
wherein T is R Representing periodic components of spectral amplitude fluctuations related to sound source distance, BS m (gamma) represents the mth hydrophone according to the receiving depth z r,m For s m (q) resampling, and then according to the secondary spectrum sequence after the zero-setting operation of the first depth and the first distance range zone of the sound source, N R Output point number, N for fast Fourier transform r Is the base sequence length.
7. The passive localization method of a broadband sound source in a deep sea sound shadow area according to claim 6, wherein the calculation step of the secondary spectrum sequence after resampling the in-band spectrum amplitude sequence of the mth hydrophone according to the receiving depth and the zeroing operation of the first depth and the first distance range of the sound source is as follows:
wherein,representation s m (q) resampling at the reception depth and adding 0 to the length N R Is a sequence of spectral magnitudes;
wherein R { x (N), N re The } operator represents resampling an x (N) sequence to a length of N re Is a sequence of (2); γ=1, 2, …, N R Outputting a point sequence number for the fast Fourier transform;
8. the method for passively locating a broadband sound source in a deep sea shadow according to claim 7, wherein the calculating the estimated values of the sound source depth and the distance according to the obtained periodic component of the spectrum amplitude fluctuation related to the sound source depth and the distance and the obtained periodic component of the spectrum amplitude fluctuation related to the sound source distance comprises the following specific steps:
wherein,estimated value representing sound source depth, +.>An estimated value representing the sound source distance.
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein program instructions, which when run, are adapted to perform a method for passive localization of a broadband sound source in a deep sea sound shadow according to any one of claims 1-8.
10. A passive localization system for broadband sound sources in a deep sea sound shadow comprising the computer readable storage medium of claim 9.
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