CN110488301B - Multi-source information fusion sonar comprehensive target identification method - Google Patents
Multi-source information fusion sonar comprehensive target identification method Download PDFInfo
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Abstract
The invention relates to a sonar target comprehensive identification method based on multi-information-source fusion. The method aims at the problem that the accuracy of target identification of sonar is improved in the process of searching and submerging, sonar target characteristics and an acquisition means thereof are analyzed, a sonar target characteristic extraction, analysis and identification method is researched, sonar detection echo characteristic information, frequency spectrum information, audio information, target motion element information, radar information, AIS information and other information are comprehensively utilized to carry out joint identification, target characteristic information is deeply mined, isolated and fragmented data are converted into information advantages through multi-dimensional identification such as spectrum characteristics, frequency domain characteristics, listening identification and motion elements, the information advantages are converted into information advantages, a standard identification flow is formed, and the accuracy of sonar target identification is improved.
Description
Technical Field
The invention belongs to the technical field of sonar target identification. The invention provides a sonar target comprehensive identification method by combining multiple information sources and comprehensively utilizing information such as sonar detection echo characteristic information, frequency spectrum information, audio information, target motion element information, radar information, AIS information and the like for joint identification, isolated and fragmented data are converted into information advantages through multi-dimensional identification such as spectrum characteristics, frequency domain characteristics, listening identification and motion elements, a standard sonar target comprehensive identification use flow is formed, and therefore the target identification accuracy is improved.
Background
The sonar eye identification is a process of identifying the target attribute by using comprehensive information such as map analysis, audition identification, motion factor analysis and the like by a sonar staff according to target information detected by sonar equipment on the premise of finding the target by the sonar equipment, and is also an important link of post-data processing of the sonar equipment. The key to accomplishing underwater target identification is to utilize the invariant features of the target. So far, the reports about underwater target identification at home and abroad are mostly based on a target spectrum structure, but due to the deficiency of prior data, the identification implementation of the mode has greater difficulty. For echo signals, it is more difficult to identify the echo signal according to the spectrum structure. In view of the complexity of classification and identification of underwater acoustic targets, the general trend of the classification and identification develops towards comprehensive identification, namely, various available information is integrated in a data fusion mode, besides identification information provided by a system, position factors, human factors, various prior knowledge and the like are considered, and finally judgment is made. The target classification and identification generally comprises two stages of feature extraction and classification judgment, wherein the feature is firstly extracted from the acquired signal, and then classification is carried out according to the extracted feature. It can be seen that the primary condition for classifying and identifying the target is to obtain a good target signal and extract target features from the good target signal. Otherwise, the classification recognition accuracy of the target is degraded.
Disclosure of Invention
Aiming at the problem of low accuracy of sonar target identification, a sonar comprehensive target identification method is provided, and sonar detection echo characteristic information, frequency spectrum information, audio information, target motion element information, radar information, AIS information and other information are comprehensively used for identification, so that the aim of quickly and accurately identifying a target is fulfilled.
The invention mainly solves the technical problem of providing a sonar comprehensive target identification method with multi-source information fusion. The technical scheme of the invention is as follows:
(1) Sonar target recognition
The sonar target identification is a process of identifying target attributes by using comprehensive information such as spectrum analysis, audition identification, motion element analysis and the like by a sonar staff according to target information detected by sonar equipment on the premise that the sonar equipment finds a target;
(2) Identifying general ideas
The sonar is used for perceiving target information in marine environment, and mainly comprises the following components: the method comprises the following steps of measuring the radiation noise characteristics of a naval vessel, measuring the passive sonar system, measuring the sound reflection characteristics of the naval vessel, measuring the active sonar system and measuring the shallow/deep sea marine environment. Target azimuth information, distance information, radial velocity information, frequency spectrum information and audio information detected by sonar provide actual measurement means support for passive sonar, active sonar detection identification, target motion factor calculation and the like. The sonar target types are mainly divided into two types, echo target and noise target. A sonar target sound signal characteristic system discloses a mechanism, a model and a rule for forming fine characteristics of two main types of sound signals, namely radiated sound and scattered sound, which are associated with attributes such as the number of propellers of a submarine target, the number of blades, the size/tonnage, the shape, the structure, the external material of the target, the behavior of the target and the like. The sonar detection target echo characteristics and the radiation noise characteristics are closely related to echo and radiation noise signals related to target size/tonnage, specific mechanical periodic motion, propellers, target appearance, target internal structure and material, target behavior characteristics, sound field interference/distortion, auditory perception and the like.
At present, due to the fact that prior information is insufficient, under the condition that the automatic target identification level and the automatic target identification capability of sonar equipment are limited, a method for deeply mining and extracting target characteristic information is provided, and a combat use mode of comprehensively identifying information such as echo characteristic information, frequency spectrum information, audio information, target motion element information and radar information is adopted, so that the method becomes an important means for improving the accuracy of sonar target identification. Therefore, a man-machine combined recognition mode of sonar target feature information deep extraction and sonar staff target comprehensive recognition is an effective way for promoting sonar target recognition accuracy.
In conclusion, a commander and a sonar staff comprehensively use battlefield situation information and information such as sonar detection echo characteristic information, frequency spectrum information, audio information, target motion element information, radar information and the like, and can quickly and accurately identify a target through mutual checking by an exclusion method and a verification method, so that the accuracy of sonar target identification is improved. The specific flow of sonar target characteristic information identification is as follows:
(1) water surface/underwater target identification
Firstly, radar or AIS information is utilized to eliminate water surface targets (including searching team member ships, commercial ships, steel fishing ships and the like) through an elimination method, and the targets are preliminarily determined to be underwater targets.
(2) Port and starboard identification
For the ship-shell sonar, the equipment can technically judge the target port and starboard; for towed linear array sonar, if the towed linear array sonar is a ternary array, technically, the problem is solved by adopting a ternary linear array with each array element comprising three hydrophones, adopting vector hydrophones, adopting a double-towing and active-passive mode and the like, and a target port and starboard can be automatically judged; however, for the one-dimensional towed linear array, the hydrophones on the linear array are nondirectional, so that the left-right blurring phenomenon often exists. In order to solve the problem, in tactical terms, a certain maneuvering measure of a ship is generally adopted to observe the change condition of the target azimuth, so that the target bulwark angle can be judged.
(3) Moving object recognition
The target is determined to be a moving target or a non-moving target by resolving moving elements such as target course, navigational speed and the like through an anti-submarine system or checking whether the target has characteristics such as obvious mechanical noise, propeller noise, accidental pulse and the like. Usually the active sonar output has only two parameters, azimuth and distance. And resolving the distance and orientation parameter output to obtain the length, the speed and the target strength of the target.
(4) Metal target identification
And identifying the accurate positions of the submarine hillside, the sea ditch, the submerged reef and the convex peak through the chart, and determining the target as a metal target or a non-metal target according to the reflection characteristics and the reflection coefficient of the target.
(5) Object feature recognition
Whether the target is a submarine for sitting and sinking the seabed is determined by checking whether a sunken ship exists in the seabed, the sunken ship can adsorb marine organisms with different thicknesses on the surface layer due to the length of sinking time, and the reflection coefficient, echo and spectrogram characteristics of the target are obviously different from those of the submarine.
In practical use, for an experienced sonar operator, the information contained in the LOFAR chart can be found out to be helpful for the identification and analysis of the moving target. Such as a certain target being strongest on a certain beam; that object has a doppler shift indicating that the object has a certain speed or track change; the target, etc. can be identified by the frequency of the line spectrum.
(6) Multi-pass object recognition
For active sonar, the multi-path interference is usually less under a flat sea bottom or a good hydrological condition, but for a slope sea bottom, a fluctuating sea bottom or a bad hydrological condition, the sound propagation multi-path effect becomes serious, so that a plurality of sonar clutter points are caused, and a target needs to be accurately identified in a clutter background.
When a search formation or other ships cannot find targets at the same time at the calibrated position points, whether the targets are other targets in a long-distance sea area, which are found by multiple reflections of sound waves emitted by the sonar of the ship, needs to be considered, and at the moment, a sonar measuring range or a signal processing form can be converted for detection and identification.
The invention has the advantages that: by the comprehensive target identification method for performing multi-information source fusion by comprehensively using sonar detection echo characteristic information, frequency spectrum information, audio information, target motion factor information, radar information, AIS information and other information, fragmented, dispersed and isolated data can be fused, so that information advantages are converted, a standard identification flow is formed, and the accuracy of sonar target identification is improved.
Drawings
Figure 1 is a flow chart of sonar target comprehensive identification of multi-information source fusion,
fig. 2 is a sonar target identification information source composition diagram.
Detailed Description
The invention provides a sonar comprehensive target identification method with multi-source information fusion, and provides a sonar target identification method with strong operability. The specific implementation method can be implemented according to the related contents of water surface/underwater target identification, port and starboard identification, moving target identification, metal target identification, target feature identification, multi-path target identification and the like in the technical scheme of the invention. The method comprehensively utilizes sonar detection echo characteristic information, frequency spectrum information, audio information, target motion element information, radar information, AIS information and other information for identification, deeply excavates target characteristic information, converts isolated and fragmented data into information advantages through multi-dimensional identification such as spectrum characteristics, frequency domain characteristics, listening identification and motion elements, improves sonar target identification accuracy under the countermeasure condition, and provides support for reasonably using sonar equipment and fully exerting sonar detection efficiency; secondly, an important concept of comprehensive target identification is to establish a sonar target feature database, and integrate data acquired from different data sources, years of history and the future to form an organized data environment convenient for analysis and mining. The big data application concept is introduced into underwater acoustic target recognition, and data support and information support are provided for underwater target recognition and combat assistant decision-making.
And (4) establishing a sonar target data acquisition standard, and collecting and importing combat data, situation data, information data, radar data, AIS data and the like into a database all the time.
(1) Sonar target recognition
The sonar eye identification is a process of identifying the target attribute by using comprehensive information such as map analysis, audition identification, motion element analysis and the like by a sonar staff according to target information detected by sonar equipment on the premise of finding the target by the sonar equipment;
(2) Identifying general ideas
Sonar is used for perceiving target information in marine environment, and mainly comprises: ship radiation noise characteristics and passive sonar systems, ship acoustic reflection characteristics and active sonar systems, and shallow/deep sea marine environment measurement. Target orientation information, distance information, radial velocity information, frequency spectrum information and audio information detected by sonar,
the specific process is as follows:
(1) water surface/underwater target identification
Firstly, radar or AIS information is utilized to eliminate water surface targets (including searching team member ships, commercial ships, steel fishing ships and the like) through an elimination method, and the targets are preliminarily determined to be underwater targets.
(2) Port and starboard identification
For the ship-shell sonar, the equipment can technically judge the target port and starboard; for towed linear array sonar, if the towed linear array sonar is a ternary array, technically, the method is solved by adopting a ternary linear array with each array element containing three hydrophones, adopting vector hydrophones, adopting a double-towing and main-passive mode and the like, and can automatically judge the target port and starboard; however, for the one-dimensional towed linear array, because the hydrophones on the linear array are non-directional, a left-right fuzzy phenomenon often exists. In order to solve the problem, in tactical terms, a certain maneuvering measure of a ship is generally adopted to observe the change condition of the target azimuth, so that the target bulwark angle can be judged. Through research, port and starboard sides can be judged according to the change rule of a target bulwark angle relative to an original bulwark angle after the ship steers, and the following judgment principles can be adopted:
a) Warship steering to left
The target bulwark angle is increased, and the target is on the starboard;
the target port angle is reduced and the target is port.
b) Warship steering to right
The target bulwark angle is increased, and the target is on the port side;
the target port angle is reduced and the target is starboard.
c) For the problem of target azimuth ambiguity caused by multi-path effect, the target can be placed in the broadside beam through naval vessel maneuvering, and then the judgment is carried out according to the two criteria of a) and b).
When a target is found by using the one-dimensional towed linear array sonar, the ship should be immediately steered by maneuvering after the type of the target is judged by using narrow-band detection, and the broadside of the target is judged, wherein the maneuvering method comprises the following steps: firstly, the target is supposed to be positioned on a certain board of the ship according to the possible attack direction of the target, then the direction is turned to the direction of the other board side, the change situation of the target direction is observed, and the port and the starboard of the target are judged.
(3) Moving object recognition
The anti-submarine system is used for resolving motion elements such as target course and speed or checking whether the target has characteristics such as obvious mechanical noise, propeller noise and accidental pulse to determine whether the target is a moving target or a non-moving target. Usually the active sonar output has only two parameters, azimuth and distance. And resolving the distance and orientation parameter output to obtain the length, the speed and the target strength of the target.
a) Speed of submarine
When R is continuously given at a certain distance gear 1 And R 2 While in the corresponding orientation
And
because the scanning time t of a certain distance gear is fixed, the speed of the submarine is as follows:
radial velocity V r ＝(R 1 -R 2 )/t(1)
Tangential velocity
Speed to ground V Diving ＝(V t +V r )(3)
In the formula:
R 1 -a first target distance;
R 2 -a second target distance;
t-scan time;
b) Reflection intensity of submarine
According to active sonar equation SL-NL-2TL + TS + GS + GT = M (4)
In the formula:
SL — emission sound source level;
NL-background noise level;
TL-propagation loss;
TS-target intensity;
GS-spatial gain of the array;
GT-time gain for post-processing.
In the detection process, the received signal margin is M, and TS is expressed as follows:
TS＝M-GS-GT-SL+NL+2TL (5)
M＝10lg(A 2 /N 2 ) (6)
in the formula:
A 2 -energy in the presence of a signal;
N 2 noise energy in the absence of a signal.
And (3) according to the basis of the active sonar judgment type and the target spectrogram display, by combining with the parameters of searching warship tactical maneuver, the target course, the navigational speed and the like which are solved by the anti-submarine fire control system, judging the target attribute and mastering the motion situation of the target. For passive sonar, the "propeller pitch" of the target may be used to determine the number of revolutions of the target's propeller and estimate the target airspeed.
(4) Metal target identification
And identifying the accurate positions of the submarine hillside, the sea ditch, the submerged reef and the convex peak through the chart, and determining the target as a metal target or a non-metal target according to the reflection characteristics and the reflection coefficient of the target.
(5) Object feature recognition
Whether the target is a submarine for sitting and sinking the seabed is determined by checking whether a sunken ship exists in the seabed, the sunken ship can adsorb marine organisms with different thicknesses on the surface layer due to the length of sinking time, and the reflection coefficient, echo and spectrogram characteristics of the target are obviously different from those of the submarine.
In practical use, for an experienced sonar operator, the information contained in the LOFAR chart can be found out to be helpful for the identification and analysis of the moving target. Such as a certain target being strongest on a certain beam; that target has a doppler shift indicating that the target has a certain speed or track change; the target, etc. can be identified by the frequency of the line spectrum.
(6) Multi-pass object recognition
For active sonar, the multi-path interference is usually less under a flat sea bottom or a good hydrological condition, but under a slope sea bottom, a fluctuating sea bottom or a bad hydrological condition, the multi-path effect of sound propagation becomes serious, so that more sonar clutter points are caused, and a target needs to be accurately identified in a clutter background.
When a search formation or other ships cannot find a target at the same time at a calibrated position point, whether the target is a target in other remote sea areas found by multiple reflections of sound waves emitted by the sonar of the ship or not needs to be considered, and at the moment, the detection and identification can be carried out by converting the range of the sonar or the signal processing form.
Claims (1)
1. The utility model provides a multisource information fusion's sonar integrated target identification method, uses sonar detection echo characteristic information, frequency spectrum information, audio information, target motion factor information, radar information, AIS information to discern synthetically, its characterized in that, concrete content includes:
sonar target identification, the specific flow is as follows:
(1) Water surface/underwater target identification
Firstly, removing a water surface target by using radar or AIS information through an elimination method, and preliminarily determining the target as an underwater target;
(2) Port and starboard identification
For the ship-shell sonar, technically, the target port and starboard is judged; for the towed linear array sonar, if the towed linear array sonar is a ternary array, technically, the method is solved by adopting a ternary linear array with each array element containing three hydrophones, adopting vector hydrophones, adopting a double-towing and main-passive mode and automatically judging the target port and starboard; for the one-dimensional towed linear array, as the hydrophones on the linear array are nondirectional, the variation condition of the target azimuth is observed by adopting the maneuvering measure of the ship, and the judgment of the target bulwark angle is made;
(3) Moving object recognition
Resolving a target course, a navigation speed movement element or an inspection target by an anti-submarine system, determining whether the target is a moving target or a non-moving target according to the existence of obvious mechanical noise, propeller noise and accidental pulse characteristics of the inspection target, outputting active sonar only with two parameters of azimuth and distance, and resolving the output of the parameter of the distance azimuth to obtain the length, the speed and the target intensity of the target;
(4) Metal target identification
Identifying the accurate positions of a sea-bottom hillside, a sea ditch, a submerged reef and a convex peak through a chart, and determining that the target is a metal target or a non-metal target according to the reflection characteristics and the reflection coefficient of the target;
(5) Object feature recognition
Determining whether the target is a submarine which can sit and sink the seabed by checking whether a sunken ship exists in the seabed;
(6) Multi-pass target identification
For active sonar, the multi-path interference is usually less under a flat seabed or a good hydrological condition, but for a slope seabed, a fluctuating seabed or a bad hydrological condition, the sound propagation multi-path effect becomes serious, so that more sonar clutter points are caused, and a target needs to be accurately identified in a clutter background;
and the port and starboard identification is to judge the port and the starboard according to the change rule of the target bulwark relative to the original bulwark after the ship turns to the engine, and according to the following judgment principle:
a) Warship steering to left
The target bulwark angle is increased, and the target is on the starboard;
the target bulwark angle is reduced, and the target is on the port side;
b) Warship capable of steering to right
The target bulwark angle is increased, and the target is on the port side;
the target bulwark angle is reduced, and the target is on the starboard;
c) For the fuzzy problem of the target position caused by the multi-path effect, the target is placed in a broadside wave beam through naval vessel maneuvering, and then judgment is carried out according to two criteria of a) and b);
when the one-dimensional towed linear array sonar finds a target, the ship should be immediately steered after the type of the target is judged by using narrow-band detection, and the broadside of the target is judged by the following method: firstly, assuming that the target is positioned on a certain board of a ship according to a possible attack direction of the target, then turning to the direction of the other board side, observing the change condition of the target direction, and judging the port and the starboard of the target;
the identification of the target speed and the target intensity is specifically as follows:
(1) Target speed identification
When R is continuously given at a certain distance gear 1 And R 2 When in corresponding orientation
And
because the scanning time t of a certain distance gear is fixed, the speed of the submarine is as follows:
radial velocity V r ＝(R 1 -R 2 )/t (1)
Tangential velocity
Speed to ground V Diving ＝(V t +V r ) (3)
In the formula:
R 1 -a first target distance;
R 2 -a second target distance;
t-scan time;
(2) Object intensity identification
According to active sonar equation SL-NL-2TL + TS + GS + GT=M (4)
In the formula:
SL — emission sound source level;
NL-background noise level;
TL-propagation loss;
TS-target intensity;
GS-spatial gain of the array;
GT-time gain for post-processing;
in the detection process, the received signal margin is M, and TS is expressed as follows:
TS＝M-GS-GT-SL+NL+2TL (5)
M＝10lg(A 2 /N 2 ) (6)
in the formula:
A 2 -energy in the presence of a signal;
N 2 noise energy in the absence of a signal.
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| CN112163461B (en) * | 2020-09-07 | 2022-07-05 | 中国海洋大学 | An underwater target recognition method based on multimodal fusion |
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| CN114545422B (en) * | 2022-04-25 | 2022-07-19 | 杭州应用声学研究所(中国船舶重工集团公司第七一五研究所) | Active sonar target identification method based on multiple physical characteristics |
| CN115630288A (en) * | 2022-12-20 | 2023-01-20 | 中国电子科技集团公司第十四研究所 | Multi-source characteristic multi-level comprehensive identification processing framework |
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