CN117406204B - Sonar buoy array beam forming and positioning method for low-frequency multi-line spectrum detection - Google Patents
Sonar buoy array beam forming and positioning method for low-frequency multi-line spectrum detection Download PDFInfo
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
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Abstract
The invention provides a sonar buoy array beam forming and positioning method for low-frequency multi-line spectrum detection, which comprises the following steps: establishing a X, Y two-dimensional plane coordinate system in a sea area to be searched to form two random sonar buoy arrays distributed along X, Y axes; determining the center coordinates of the linear array of the virtual sonar buoys, and determining the interval of each virtual sonar buoy based on the line spectrum; acquiring the coordinate positions of the sonar buoys in the random sonar buoy array through Beidou satellite-based differential measurement, and mapping the random sonar buoy array and the sonar buoys in the virtual sonar buoy linear array one by one through coordinate conversion and time delay; taking the center coordinates of the virtual sonar buoy linear arrays as an origin, and respectively forming receiving beams according to the linear arrays by the two virtual sonar buoy linear arrays; based on the forward included angle between the main axis of the receiving beam and the X, Y axis, the detection of the low-frequency multi-line spectrum remote target is realized through geometric positioning. The invention can realize the beam forming of the low-frequency multi-line spectrum and the target positioning.
Description
Technical Field
The invention belongs to the technical field of remote underwater target sound detection, and particularly relates to a sonar buoy array beam forming and positioning method for low-frequency multi-line spectrum detection.
Background
With the continuous development of modern equipment technology, searching and tracking of underwater targets becomes more and more difficult. Towed line array sonar, suspended sonar, shore-based sonar, sonobuoy and the like are receiving more and more attention as an effective detection means, and advanced remote detection technologies are actively researched in all countries of the world.
However, the noise spectrum level of today's underwater vehicles is continuously reduced, and the level of underwater sound detection technology faces a great technical challenge. It is known that the low frequency spectrum of underwater vehicles, in particular the axial frequency and the blade frequency spectrum intensity of propellers, is 10-20 db higher than the continuous spectrum intensity of noise; therefore, the adoption of low-frequency or ultra-low-frequency passive detection of the underwater target is an important development trend at present, a great amount of manpower, material resources and financial resources are input in the field of developed countries in the world to solve the problem of remote detection of the underwater target, and the effect is very little from the aspect of the current research effect. The method is mainly limited by the size, the volume, the weight and the like of a transducer array of the underwater acoustic detection system, the loading platform limits the size of the transducer array, and the detection of a low-frequency line spectrum in the range of 5HZ-100HZ is difficult to realize due to the small aperture of the transducer array, so that the detection distance is short.
Disclosure of Invention
The invention aims to solve the defects in the background technology, and provides a sonar buoy array beam forming and positioning method for low-frequency multi-line spectrum detection, which can realize beam forming and target positioning of the low-frequency multi-line spectrum.
The technical scheme adopted by the invention is as follows: a sonar buoy array beam forming and positioning method for low-frequency multi-line spectrum detection comprises the following steps:
establishing a X, Y two-dimensional plane coordinate system in a sea area to be searched to form two random sonar buoy arrays distributed along X, Y axes;
determining the center coordinates of the virtual sonar buoy linear array, determining the intervals of all the virtual sonar buoys in the virtual sonar buoy linear array based on the search line spectrum, and constructing the virtual sonar buoy linear array on a X, Y axis;
the method comprises the steps of obtaining the coordinate position of each sonar buoy in a random sonar buoy array through Beidou satellite-based differential measurement, mapping the sonar buoys in the random sonar buoy array and the sonar buoys in a virtual sonar buoy linear array one by one, and forming two perpendicular virtual sonar buoy linear arrays composed of a plurality of sonar buoys in time through coordinate conversion;
searching frequency range of target line spectrum 5HZ-100HZ, on a certain searching line spectrum, respectively using virtual sonar buoy linear array central coordinate O X 、O Y Forming receiving beams with the width of 5-10 degrees respectively by using two virtual sonar buoy linear arrays on a X, Y shaft as an origin according to a linear array;
based on the received wave beams, respectively acquiring forward included angles of a wave beam main shaft and a X, Y shaft, and realizing detection of the low-frequency multi-line spectrum remote underwater target through geometric positioning.
In the above technical solution, the search target is located in the first quadrant of the X, Y two-dimensional plane coordinate system.
In the technical scheme, after the origin of coordinates of a X, Y two-dimensional plane coordinate system is selected, sonar buoys are thrown in a certain range near the X, Y axis, so that a random sonar buoy array is formed.
In the technical scheme, the number of the sonar buoys in the random sonar buoy array is determined according to the accuracy of the throwing position and is not smaller than the number of the sonar buoys in the virtual sonar buoy linear array; after random sonar buoys with coordinate positions far away from X, Y axes in the random sonar buoy array are removed, the rest random sonar buoys are mapped with each virtual sonar buoy in the virtual buoy array one by one.
In the technical scheme, one half of the wavelength of the search line spectrum is set as the interval of the virtual sonar buoy linear array.
In the technical scheme, the receiving beam of the virtual sonar buoy linear array is scanned according to the search logic, and if the target signal is not received, the search line spectrum is adjusted; re-adjusting the intervals of the virtual sonar buoys based on the adjusted search line spectrum, and re-mapping the random sonar buoy arrays aiming at the adjusted virtual sonar buoy linear arrays; the above steps are cyclically performed until the target signal is received.
In the technical scheme, the coordinate position information of each virtual sonar buoy is determined based on the center coordinates of the virtual sonar buoy linear array and the determined coordinate intervals of each virtual sonar buoy; and mapping the coordinate position of the virtual sonar buoy and the random sonar coordinate position closest to the connecting line of the virtual sonar buoy.
In the above technical scheme, the central position coordinate of the X, Y-axis virtual sonar buoy linear array is determined according to the number of array elements in the X, Y-axis virtual sonar buoy linear array and the wavelength of the search line spectrum.
In the above technical solution, if a target exists, according to the positive included angle between the main axis of the scanning beam and the X or Y axis received by the two virtual sonar buoy linear arrays, the included angle between the main axis of the beam and the line connecting the central coordinate origins of the two virtual sonar buoy linear arrays on the X, Y axis is obtained after transformation, and the coordinate position of the target is calculated by a geometric positioning method of adding one side from two angles.
In the technical scheme, beam scanning is carried out in the search area of the first quadrant at 5-95 degrees and 90-175 degrees respectively.
The beneficial effects of the invention are as follows: according to the invention, two random sonar buoy arrays distributed along the X, Y axis are formed by throwing a certain scattering range along the X, Y axis, two mutually perpendicular virtual linear arrays formed by a plurality of sonar buoys are formed by coordinate conversion and time delay, and wave beams are formed according to the linear arrays, so that the target detection of underwater low-frequency multi-line spectrums is realized. Because the number of the virtual linear array sonar buoys and the line spectrum of the search target can be flexibly set according to the requirements, the large-aperture array is realized by breaking through the working mode of the traditional sonar buoys, and the high spatial processing gain is obtained so as to meet the low-frequency multi-line spectrum detection requirements. The invention can work in low frequency or ultra-low frequency band and is used for detecting axial frequency and leaf frequency line spectrum signals of the underwater vehicle, thereby realizing remote detection and high-precision orientation and positioning of the underwater vehicle.
Further, the invention is transmitted by a wireless data chain, and the coordinate conversion and time delay of the random sonar buoy and the virtual sonar buoy are realized through the storage and the calculation of a computer on an aerial platform, so that the automatic compensation of the array error of the sonar buoy, the influence error of the water flow and the wind direction, the change of the line spectrum of the target noise and the like is realized, and the real-time performance and the accuracy of the beam forming and the target positioning are further ensured.
Further, the invention searches the target in the first quadrant of the constructed plane coordinate system, and ensures the resolving precision and searching efficiency of the target locating process.
Furthermore, the sonar buoys are randomly thrown in the determined detection sea areas as close to the X, Y axis as possible, so that the validity and the accuracy of the detection data are ensured while the detection range is effectively covered.
Furthermore, the invention eliminates the actual sonar buoy far away from the X, Y axis, thereby ensuring the source precision of the positioning data.
Furthermore, the invention takes one half of the wavelength of the search line spectrum as the interval of the virtual sonar buoy linear array, so as to ensure that the virtual sonar buoy linear array can effectively and accurately form a receiving directional beam.
Furthermore, the invention can continuously adjust the search line spectrum, adjust the interval of the virtual sonar buoys based on the line spectrum, ensure that the finally determined virtual sonar buoy linear array can effectively adapt to the detection requirement, simultaneously can adapt to the target detection of different line spectrums, does not need any adjustment to hardware equipment in the application process, can realize adaptation only by circularly executing a resolving program, and effectively saves the cost and the flexible configuration of the system.
Furthermore, the invention maps the virtual sonar buoy coordinates and the random sonar buoy coordinates one by one based on the connection line minimization principle, thereby effectively saving the calculation cost and ensuring the accuracy of the resolving process.
Further, after the central coordinates of the virtual sonar buoy linear array are determined, the coordinates of the subsequent virtual sonar buoys are adjusted by taking the central coordinates as a reference, so that the calculation efficiency is effectively improved.
Furthermore, the invention adopts a geometric positioning method to solve and obtain the target coordinate position, simplifies the complexity of the calculation and simultaneously effectively saves the calculation cost.
Further, the invention scans the beam in the search area of the first quadrant at 5-95 degrees and 90-175 degrees respectively, which simplifies the overall framework of beam forming and meets the actual use requirement.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention;
fig. 2 is a schematic diagram of a receiving directional beam according to an embodiment;
FIG. 3 is a schematic diagram showing a distribution of a certain throwing state of a random sonar buoy array and a virtual sonar buoy linear array on a Y-axis in an embodiment;
fig. 4 is a schematic diagram of an embodiment.
Detailed Description
The invention will now be described in further detail with reference to the drawings and specific examples, which are given for clarity of understanding and are not to be construed as limiting the invention.
As shown in FIG. 1, the invention provides a sonar buoy array beam forming and positioning method for low-frequency multi-line spectrum detection, which comprises the following steps:
s1, establishing a X, Y two-dimensional plane coordinate system in a sea area to be searched to form two random sonar buoy arrays distributed along X, Y axes;
s2, determining the center coordinates of the virtual sonar buoy linear array, determining the intervals of all virtual sonar buoys in the virtual sonar buoy linear array based on the search line spectrum, and constructing the virtual sonar buoy linear array on a X, Y axis;
the method comprises the steps of obtaining the coordinate position of each sonar buoy in a random sonar buoy array through Beidou satellite-based differential measurement, mapping the sonar buoys in the random sonar buoy array and the sonar buoys in a virtual sonar buoy linear array one by one, and forming two perpendicular virtual sonar buoy linear arrays composed of a plurality of sonar buoys in time through coordinate conversion;
s3, searching a target line spectrum for a frequency range of 5HZ-100HZ, and respectively using the center coordinates O of the linear array of the virtual sonar buoy on a certain searching line spectrum X 、O Y Forming receiving beams with the width of 5-10 degrees respectively by using two virtual sonar buoy linear arrays on a X, Y shaft as an origin according to a linear array;
s4, respectively acquiring forward included angles of a beam main axis and a X, Y axis based on the received beams, and detecting a low-frequency multi-line spectrum remote underwater target through geometric positioning.
The embodiment provides a sonar buoy array beam forming and positioning method for low-frequency multi-line spectrum detection, which takes a first quadrant of X, Y coordinates as a range of a search target, sets central position coordinates of two virtual sonar buoy linear arrays on a X, Y axis, wherein the central position distance and buoy position coordinates of the two virtual sonar buoy linear arrays change along with wavelength according to different detection line spectrums to form optimal beam opening angles and positioning accuracy, forms beams by taking the central position coordinates of the two virtual buoy arrays on the X, Y axis as a reference, respectively acquires an included angle between a beam main axis and a X, Y axis forward direction, and realizes remote detection of the low-frequency multi-line spectrum target through geometric positioning.
In step S1, a X, Y two-dimensional plane coordinate system is established, and the detection target is located in the first quadrant of the X, Y two-dimensional plane coordinate system. The origin of coordinates O is determined according to the water area required by the user, and the length of the X, Y shaft is set to be variable from 50 km to 300 km. The device for implementing the invention is integrated with a display device, and the scale of the display system is scalable according to the distance of the target.
After selecting the origin of coordinates of a X, Y two-dimensional plane coordinate system, sonar buoys are thrown in the X, Y axis forward direction at a certain interval, so that the sonar buoys are close to the X, Y axis, and a random sonar buoy array is formed. The sonar buoys are launched by the water surface or an aerial platform, and the launched and launched dispersion is as close to the X, Y axis as possible. In two directions of X, Y axis, the distance between the sonar buoy and the origin O is 5-20 km, and the actual distance can be adjusted according to the distance between the target and the sonar buoy so as to improve the positioning accuracy.
The distance between sonar buoys along the X or Y axis is as small as 150 meters to 7.5 meters, so as to reduce the error of the coordinate position conversion of the array elements of the linear array of the virtual sonar buoys. The number of buoys is at least 20, and two random sonar buoy arrays distributed along the X, Y axis are formed. Since the larger the number of impressions, the higher the spatial gain, the user can trade off the cost-effectiveness ratio to choose the number of impressions by himself.
In step S2, the sonar buoys, which are obtained by the beidou satellite-based difference in the random sonar buoy array, are removed from the sonar buoys, the coordinate positions of which are far away from the X, Y axis.
Two virtual sonar buoy linear arrays are respectively arranged on the X, Y shaft, and the number of sonar buoys of each array in the virtual sonar buoy linear arrays is at least 15.
The number of buoys in the random sonar buoy array should be 20% greater than the number of buoys in the virtual sonar buoy linear array, or determined according to the accuracy of the placement position.
The frequency range 5HZ-100HZ is searched for the line spectrum of the receiving directional beam. And manually setting the central position coordinates of the virtual sonar buoy linear array on the X, Y axis, wherein the distances between the two central position coordinates and the origin O are equal.
Specifically, the central position coordinates of the X, Y on-axis virtual sonar buoy linear array should be determined according to the number of array elements in the X, Y on-axis virtual sonar buoy linear array and the wavelength of the search line spectrum.
Respectively takes the coordinates of the central position as the origin O X 、O Y And respectively forming receiving beams with the width of 5-10 degrees, and scanning the target searching area in the first quadrant of the X, Y coordinate system to receive the low-frequency line spectrum signals of the target.
Along with the change of the frequency of the search line spectrum, the interval of the virtual sonar buoys is changed, and the length of the virtual sonar buoy line array is telescopic.
The line spectrum frequency searching strategy of this embodiment is: the line spectrum searching frequency formed by the two virtual sonar buoy linear array beams is preferential to 5HZ-40 HZ; in the 5HZ-40HZ interval, 2HZ is used as an adjustment interval; adjusting the interval at 5HZ in a 42HZ-62HZ interval; in the 60HZ-100HZ interval, 10HZ is used as an adjustment interval. The integration time of each beam direction passive line spectrum signal detection is determined according to the wind speed and the flow speed of the sea area.
As shown in fig. 2, the beam search strategy in this embodiment is as follows: in the first quadrant of the coordinate system, the central position coordinate origin of the two virtual sonar buoy linear arrays is taken as a reference, and the beam scanning is respectively carried out at 5-95 degrees and 90-175 degrees in the search area of the first quadrant. The reception directivity beam width is 5-10 degrees. In the specific embodiment, 5Hz is firstly used as a search line spectrum, and one half of the wavelength of the search line spectrum is used as the interval of the virtual sonar buoy linear array.
And if the virtual sonar buoy linear array does not receive the low-frequency line spectrum signal from the target under the beam searching strategy according to the set searching line spectrum, adjusting the searching frequency according to the line spectrum frequency searching strategy.
Readjusting the interval of each virtual sonar buoy in the virtual sonar buoy linear array based on the adjusted search line spectrum, and remapping the random sonar buoys in the random sonar buoy array; according to the adjusted searching line spectrum, trying to receive a target low-frequency line spectrum signal in the sea area to be searched under the beam searching strategy again; the above search line spectrum adjustment step is circularly performed until a target low frequency line spectrum signal is received, i.e. a target is explicitly found in the search area.
Along with the change of the frequency of the search line spectrum, the coordinates of the central positions of the two linear arrays of the virtual sonar buoys on the X, Y axis are unchanged, the intervals of the sonar buoys are changed, and the length of the linear arrays is telescopic so as to be suitable for the detection requirements of different line spectrum targets.
After the target is found clearly, the interval of the virtual sonar coordinates is determined based on the adjusted search line spectrum. Based on the center coordinates of the virtual sonar buoy linear array and the determined intervals, the coordinate positions of the virtual sonar buoys in the virtual sonar buoy linear array are determined, the random sonar buoys closest to the connecting lines of the virtual sonar buoys are mapped, and two virtual sonar buoy linear arrays which are perpendicular to each other and composed of a plurality of sonar buoys are formed in time through coordinate conversion.
As shown in fig. 3, black solid dots YSf on both sides of the Y-axis kj Representing sonar buoys in a random array of sonar buoys. The white hollow round dot positioned on the Y axis is the constructed virtual sonar buoy. Lambda represents the wavelength of the search line spectrum and lambda/2 is the array element spacing in the linear array of virtual sonar buoys.
Specifically, in the process of transforming the random sonar buoy array put along the X, Y axis into two virtual sonar buoy linear arrays on the X, Y axis, in order to reduce errors generated by transformation, two points of connecting lines between one sonar buoy coordinate value Xsj, ysj (j=1, 2 … … n) in the random sonar buoy array and one sonar buoy coordinate value Xxj, yxj (j=1, 2 … … n) in the virtual sonar buoy linear array are shortest, and one-to-one mapping is performed, so that each pair of buoy values has a buoy number. Calculating the connecting line distance between the virtual sonar buoy and the random sonar buoy which are mapped with each other, calculating the sound range difference between the virtual sonar buoy and the random sonar buoy in the beam main axis direction, and carrying out time delay on the target line spectrum signal received by the random sonar buoy to form two virtual sonar buoy linear arrays which are perpendicular to each other and are formed by a plurality of sonar buoys.
Each random sonar buoy coordinate value Xsj, ysj in the random sonar buoy array is obtained by converting spherical polar coordinates of a Beidou satellite-based differential WGS84 coordinate system into rectangular coordinates of a X, Y plane, and the accuracy error of the position of the beam forming linear array element is required to be less than 0.75 (+ -0.375) meter.
In step S3, under the adjusted search line spectrum, the virtual sonar buoy linear array is implemented according to a conventional linear array beam forming method, scanning beams on X, Y axes are respectively formed, and when a target is searched in a certain beam direction, an included angle between the target direction and the positive direction of the X or Y axis can be obtained according to the main axis direction of the beam.
In step S4, as shown in fig. 4, according to the target direction (i.e., in fig. 4Dotted line shown) and Y, X axis forward direction i And gamma i Obtaining an included angle alpha between the principal axis of the beam and the connecting line of the central coordinate origin of the two virtual sonar buoy linear arrays on the Y, X axis after transformation ii And gamma ii . Since the center coordinates of the linear arrays of virtual sonar buoys on the X and Y axes are known, i.e., the length of the line connecting the origin of the center coordinates of the linear arrays of two virtual sonar buoys (i.e., the center-to-center distance shown in FIG. 4) is known. The length of the center distance in this particular embodiment is 10, 15, 25 or 30km. And (3) calculating the coordinate position of the target by a geometric positioning method of adding one side at two angles, and realizing the positioning of the target by the random sonar buoy array.
The implementation of this embodiment is further described below:
(1) The initial configuration of system planning comprises: selecting the sea area and range of a search target, establishing an XOY coordinate system, arranging random buoy arrays, removing part of buoys and the like, and enabling the system to enter a starting state under the action of wireless synchronous signals.
(2) Acquiring time synchronization signals of the Beidou, and acquiring position coordinates (XSf) of each random sonar buoy of the random sonar buoy array kj ，YSf kj ) And the collected target signal of the hydrophone is sent to an air computer data processing platform through a multi-channel wireless network.
(3) Through Beidou satellite-based difference, a central coordinate origin O of a X, Y-axis virtual sonar buoy linear array is selected X 、 O Y 。
(4) The position coordinates of each random sonobuoy in each random sonobuoy array were measured at fk (k=1, 2 … … H) (5 Hz … … Hz) (XSf kj ，YSf kj ) Is transformed into the position coordinates of the virtual sonar buoy in the X, Y on-axis virtual sonar buoy linear array (XXf) kj ，YXf kj ）。
Symbol description: (XSf) kj ，YSf kj ) Sum (XXf) kj ，YXf kj ) The first letter X or Y in the two letters represents on X or Y axis, S in the two letters represents a random sonar buoy array, X represents a virtual sonar buoy linear array; f (f) k Represents the kth line spectral frequency and j represents the jth sonar buoy.
The position coordinates and the center coordinate origin of each virtual sonobuoy in the virtual sonar buoy linear array are set according to linear array beam forming: the search frequency changes, the buoy interval changes, and the position coordinates change.
(5) Obtaining the delay value tau of the jth (j=1, 2 … …) sonar buoy in the ith (i=1, 2 … … N, N=10) beam direction of the Y-axis virtual sonar buoy linear array ij , τ ij Form a 1015 time delay matrix, each time delay value in the matrix represents the ith wave beam direction, the time delay value of the jth sonar buoy, and the X-axis direction processing is the same as the Y-axis principle.
Under a certain line spectrum frequency, j virtual sonar buoys of a certain virtual sonar buoy linear array are subjected to respective time delay processing in a certain beam direction, and the maximum beam output is achieved right in front of the virtual sonar buoy linear array by controlling the re-time delay of the virtual sonar buoys of the virtual sonar buoy linear array in different beam directions.
(6) Beam 1 and beam 2 … … beam N are formed within the scanning range of each of the linear arrays of virtual sonar buoys on the X, Y axis.
(7) The linear array of virtual sonar buoys on the X, Y axis is scanned in the designated beam direction.
(8) Virtual sonar buoy linear array on Y axis, and positive included angle between main axis of beam 1 and beam 2 … … formed by incidence direction of target signal and Y axis is alpha 1 ，α 2 ，……α N 。
(9) Virtual sonar buoy linear array on X axis, and positive included angle between main axis of beam 1 and beam 2 … … formed by incidence direction of target signal and X axis is gamma 1 ，γ 2 ，……γ N 。
(10) The forward included angle of the linear array of the virtual sonar buoy is alpha i 、γ i The signals received by the sonar buoy hydrophones in the beam direction (i=1, 2 … … N) are phase-shifted and phase-added in the beam direction i, and the output of the beam i in the included angle direction is obtained.
(11) X, Y axis virtual sonar buoy linear array alpha in certain beam direction i 、γ i The angle is used for obtaining the maximum beam signals received by the two virtual sonar buoy linear arrays; will be alpha i 、γ i Is converted into a triangle (O-O) formed by connecting the two maximum beam signal principal axes and two central position coordinates X -O Y ) Is defined by two interior angles alpha ii ，γ ii The position coordinates of the target T are solved, see fig. 4.
What is not described in detail in this specification is prior art known to those skilled in the art.
Claims (10)
1. A sonar buoy array beam forming and positioning method for low-frequency multi-line spectrum detection is characterized in that: the method comprises the following steps:
establishing a X, Y two-dimensional plane coordinate system in a sea area to be searched to form two random sonar buoy arrays distributed along X, Y axes;
determining the center coordinates of the virtual sonar buoy linear array, determining the intervals of all the virtual sonar buoys in the virtual sonar buoy linear array based on the search line spectrum, and constructing the virtual sonar buoy linear array on a X, Y axis;
the method comprises the steps of obtaining the coordinate position of each sonar buoy in a random sonar buoy array through Beidou satellite-based differential measurement, mapping the sonar buoys in the random sonar buoy array and the sonar buoys in a virtual sonar buoy linear array one by one, and forming two perpendicular virtual sonar buoy linear arrays composed of a plurality of sonar buoys in time through coordinate conversion;
the target line spectrum searching frequency range is 5HZ-100HZ, and on a certain searching line spectrum, virtual sonar buoy linear array is respectively used for central sittingMark O X 、O Y Forming receiving beams with the width of 5-10 degrees respectively by using two virtual sonar buoy linear arrays on a X, Y shaft as an origin according to a linear array;
based on the received wave beams, respectively acquiring forward included angles of a wave beam main shaft and a X, Y shaft, and realizing detection of the low-frequency multi-line spectrum remote underwater target through geometric positioning.
2. A method according to claim 1, characterized in that: the target is searched within the first quadrant of the constructed X, Y two-dimensional planar coordinate system.
3. A method according to claim 2, characterized in that: and after selecting the origin of coordinates of the X, Y two-dimensional plane coordinate system, putting sonar buoys in a certain range near the X, Y axis to form a random sonar buoys array.
4. A method according to claim 1, characterized in that: the number of sonar buoys in the random sonar buoy array is determined according to the accuracy of the throwing position and is not smaller than the number of sonar buoys in the virtual sonar buoy linear array; after random sonar buoys with coordinate positions far away from X, Y axes in the random sonar buoy array are removed, the rest random sonar buoys are mapped with each virtual sonar buoy in the virtual buoy array one by one.
5. A method according to claim 1, characterized in that: one half of the search line spectrum wavelength is set as the spacing of the linear array of virtual sonar buoys.
6. A method according to claim 1, characterized in that: the receiving wave beams of the virtual sonar buoy linear array are scanned according to the search logic, and if no target signal is received, the search line spectrum is adjusted; re-adjusting the intervals of the virtual sonar buoys based on the adjusted search line spectrum, and re-mapping the random sonar buoy arrays aiming at the adjusted virtual sonar buoy linear arrays; the above steps are cyclically performed until the target signal is received.
7. A method according to claim 4, characterized in that: determining coordinate position information of each virtual sonar buoy based on the center coordinates of the virtual sonar buoy linear array and the determined coordinate intervals of each virtual sonar buoy; and mapping the coordinate position of the virtual sonar buoy and the random sonar coordinate position closest to the connecting line of the virtual sonar buoy.
8. A method according to claim 6, characterized in that: and the central position coordinate of the X, Y-axis virtual sonar buoy linear array is determined according to the number of array elements in the X, Y-axis virtual sonar buoy linear array and the wavelength of the search line spectrum.
9. A method according to claim 6, characterized in that: if a target exists, according to the positive included angle between the main axis of the scanning beam and the X or Y axis received by the two virtual sonar buoy linear arrays, obtaining the included angle between the main axis of the beam and the connecting line of the central coordinate origins of the two virtual sonar buoy linear arrays on the X, Y axis after transformation, and calculating the coordinate position of the target by a geometric positioning method of adding one side from two angles.
10. A method according to claim 2, characterized in that: beam scanning is performed at 5 deg. -95 deg. and 90 deg. -175 deg. in the search area of the first quadrant, respectively.
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