CN112114299A - A system and method for rapidly distinguishing starboard and starboard targets of single-tow line array sonar - Google Patents

Abstract

The invention relates to the technical field of underwater acoustic direction finding and towed line array sonar, in particular to a single towed line array sonar port and starboard target rapid resolution system, which comprises: a sound source emission array, a single towed line sonar receiving array and a data a processing module; the single-tow line sonar receiving array is towed by an autonomous underwater vehicle, and the sound source emission array and the data processing module are set in the autonomous underwater vehicle platform; the sound source emission array includes: a first changer transducer and the second transducer; the first transducer and the second transducer respectively transmit the left radiation signal of the center frequency f1 and the right radiation signal of the center frequency f2 as the left sound source and the right sound source; the single drag line The sonar receiving array is used to receive the left echo signal and the right echo signal; the data processing module is used to perform signal processing and detection and discrimination on the left echo signal and the right echo signal, and process and detect according to the echo signal Distinguish the result and distinguish whether the target is on the port or starboard side.

Description

A system and method for rapidly distinguishing starboard and starboard targets of single-tow line array sonar

technical field

The invention belongs to the technical field of underwater acoustic direction finding and towed line array sonar, and in particular relates to a system and method for rapidly distinguishing starboard and starboard targets of a single towed line array sonar.

Background technique

At present, the towed line array sonar is mainly based on ship tow or boat tow, and only the towed line array can distinguish the starboard and starboard targets. The traditional towed line array receiving end solves the problem of the starboard and starboard targets blurring, usually including three There are three methods: element drag line array, double drag line array and vector drag line array. In recent years, with the rapid development of autonomous underwater vehicle (UUV) technology, the information collection capability and endurance capability of UUV have been greatly improved. The advanced UUV is equipped with a large-aperture trailing array sonar system, which is especially suitable for long-range detection of underwater targets. However, UUV platforms are small in size and carry limited energy. Traditional towed arrays such as ternary towed arrays, double towed arrays, and vector towed arrays are bulky and heavy, so they are not suitable for UUV platform equipment.

However, the single-tow line array sonar can only rely on platform maneuvering to achieve the starboard and starboard resolution of the sonar target, while the platform maneuvering method takes a long time and is not suitable for fast moving targets and multi-target situations. Therefore, the problem that the single-tow line array sonar for the UUV platform cannot quickly and effectively distinguish the starboard and starboard targets.

At present, the towed line array sonar is mainly based on boat tow or boat tow. The main tow line arrays that can distinguish star and starboard only rely on the tow line array , but they are bulky and heavy. Simple passive single-tow line array sonar has only one tow line array and no active sound source, while active and passive tow line array sonar generally has the following configurations: (1) A transmitting transducer is towed by a tow cable, The transducer is then towed by a zero-buoyancy streamer to tow a receiving line array; (2) a towed body is towed by a towline, the transmitting transducer is placed in the towed body, and the towed body is then towed by a zero-buoyancy streamer to a receive line (3) A transmitting line array and a receiving line array cascaded with it are towed by a streamer.

Towing line arrays such as ternary towed line array, double towed line array, and vector towed line array can directly distinguish port and starboard targets, but they are bulky and heavy, and are not suitable for UUV platform equipment. The main configuration methods of the single-tow line array sonar based on the UUV platform are: (1) the UUV only tows a passive tow line array, and the target on the starboard and starboard is distinguished by the platform maneuver; (2) the UUV tow a tow cable, and the tow cable towed a launcher A line array and a receiving line array cascaded with it form an active and passive trailing line array sonar. However, due to the small size of the UUV platform, as long as the transmitting sound source is external, it is generally difficult to store it inside the UUV. , which greatly limits the maneuverability of UUVs.

Towed line arrays such as ternary towed line array, double towed line array, and vector towed line array can directly distinguish port and starboard targets, but they are bulky, heavy and costly. The passive single-tow line array can only distinguish the starboard and starboard targets by platform maneuvering, which takes a long time to distinguish, and is not suitable for multi-target and fast-moving targets. The transmission line array is cascaded to receive the active and passive tow line array sonar, and the UUV platform cannot store and store the tow line array, which limits the maneuverability of the UUV. Traditional towed line array sonars, which can directly distinguish starboard and starboard targets, such as multi-line array, three-element array, and vector array sonars are large in size, heavy in weight and high in cost, and are not suitable for UUV assembly; single-line array sonar can distinguish through maneuvering Port and starboard targets, but not suitable for multi-target and fast-moving target situations; active and passive single-line array sonar, not suitable for high-mobility UUV assembly.

SUMMARY OF THE INVENTION

The purpose of the present invention is, in order to solve the above-mentioned defects of the existing towed array sonar, the present invention proposes a single towed array sonar starboard and starboard target rapid discrimination system and method, the discrimination method overcomes the traditional towed array sonar. Line array sonar can directly distinguish starboard and starboard targets, such as multi-line array, ternary array, vector array and other trailing line array sonars are bulky, heavy, and costly, and are not suitable for UUV assembly; and solve the problem of UUV platform The single-tow line array sonar cannot quickly and effectively distinguish the starboard and starboard targets, and the single-line array sonar can distinguish the starboard and starboard targets through maneuvering, but it is not suitable for multi-target and fast moving target situations; traditional active and passive single-tow line array sonar , which limits the maneuverability of UUVs and is not suitable for technical problems in the assembly of high maneuvering UUVs.

In order to achieve the above purpose, the present invention proposes a single towed line array sonar starboard and starboard target rapid resolution system, which is characterized in that it includes: a sound source transmitting array, a single towed line sonar receiving array and a data processing module; the The single-tow line sonar receiving array is towed by the autonomous underwater vehicle, and the sound source transmitting array and the data processing module are arranged in the autonomous underwater vehicle platform;

The sound source emission array includes: a first transducer and a second transducer; the first transducer and the second transducer respectively transmit the left radiation signal of frequency f1 and the right radiation signal of frequency f2, as the left sound source and Right sound source; the frequency f1 of the radiated signal on the left is different from the frequency f2 of the radiated signal on the right;

The single tow line sonar receiving array is used to receive the echo signals of the left radiated signal of frequency f1 and the right radiated signal of frequency f2 when the target is encountered underwater respectively, as the left echo signal and the right echo signal; and The left echo signal and right echo signal received by the single tow line sonar receiving array are transmitted to the data processing module;

The data processing module is used to perform signal processing, detection and discrimination on the left echo signal and the right echo signal, and according to the echo signal processing and detection discrimination results, the discriminating target is located on the port side or the starboard side.

As one of the improvements of the above technical solutions, the first transducer and the second transducer are symmetrically distributed, and an acoustic baffle is arranged between them.

As one of the improvements of the above technical solutions, the first transducer and the second transducer are inter-frequency transducers.

As one of the improvements of the above technical solutions, the left sound source is fan-shaped, square, or composed of a plurality of transducers to emit an array sound source.

As one of the improvements of the above technical solutions, the right sound source is fan-shaped, square, or composed of a plurality of transducers to emit an array sound source.

As one of the improvements of the above technical solutions, the data processing module specifically includes:

Data acquisition unit, processing unit and resolution unit; wherein,

The data acquisition unit is used to acquire the echo signals of the left radiation signal and the right radiation signal when they meet the target underwater respectively, as the left echo signal and the right echo signal; and receive the single tow line sonar receiving array. The received left echo signal and right echo signal are transmitted to the processing unit;

The processing unit is configured to perform signal processing on the acquired left echo signal and right echo signal; acquire the echo target azimuth and echo target intensity;

The distinguishing unit is used for distinguishing that the target is located on the port side or the starboard side according to the echo signal processing and detection and distinguishing results.

Based on the above-mentioned single-tow line array sonar port and starboard target rapid identification system, the present invention also provides a single-tow line array sonar port and starboard target rapid identification method, the method includes:

The first transducer transmits the left radiation signal of the center frequency f1 as the left sound source; the second transducer transmits the right radiation signal of the center frequency f2 as the right sound source;

The single-trailer sonar receiving array receives the left echo signal and the right echo signal; and performs echo signal processing and target detection on the two respectively to obtain the corresponding echo target azimuth and echo target intensity; The echo signal is the echo signal when the radiation signal on the left side of the center frequency f1 meets the target underwater; the right echo signal is the echo signal when the radiation signal on the right side of the center frequency f2 meets the target underwater;

According to the obtained corresponding echo target azimuth and echo target intensity, distinguish whether the target is located on the port or starboard side.

As one of the improvements of the above technical solutions, the single-tow line sonar receiving array receives the left echo signal and the right echo signal, and performs signal processing and target detection on the two respectively, so as to obtain the corresponding echo target azimuth and echo signal. Wave target strength; specifically includes:

Separate the left echo signal and the right echo signal received by the single drag line array to obtain the left echo signal data and the right echo signal data; specifically, band-pass the left echo signal and the right echo signal respectively Filtering (the bandwidth of the band-pass filter should consider the Doppler frequency shift factor), respectively filter out the echo data of the center frequency f1 signal and the echo data of the center frequency f2 signal, and obtain the left echo signal data and the right echo signal data ;

Perform beamforming on the left echo signal data and the right echo signal data respectively, obtain the echo data of the left echo signal data in the range of 0-180 degrees in all directions, and obtain the right echo signal data in the range of 0-180 degrees echo data in all directions;

Perform target detection on the echo data of the left echo signal data in all directions within the range of 0-180 degrees and the echo data of the right echo signal data in the range of 0-180 degrees in all directions;

Count and label the detected left echo signal target and right echo signal target respectively, and extract the corresponding echo target azimuth and echo target intensity; wherein, the echo target intensity is the echo amplitude of the left echo signal value or the echo amplitude of the right echo signal.

As one of the improvements of the above technical solutions, according to the obtained corresponding echo target azimuth and echo target intensity, it is determined that the target is located on the port side or the starboard side; specifically, it includes:

If in a certain azimuth, the left echo signal processing result has a target, but the right echo signal processing result has no target, then the target is located on the port side;

If in a certain azimuth, the left echo signal processing result has no target, and the right echo signal processing result has a target, then the target is located on the starboard side;

If the processing results of the left echo and right echo signals show that there are targets in a certain azimuth, then further distinguish the echo target strength of the left echo signal and the echo target strength of the right echo target:

If the echo target strength of the left echo signal is greater than that of the right echo signal, the target is located on the port side;

If the echo target strength of the left echo signal is less than the echo target strength of the right echo signal, the target is on the starboard side.

Compared with the prior art, the present invention has the following beneficial effects:

The single tow line array sonar of the present invention is based on two inter-frequency transmitting transducers isolated by a sound baffle in the middle and a light tow line array. The purpose of the side target echo is to quickly distinguish the starboard and starboard targets by relying on the single-line array towed sonar without the need for platform maneuvering. In addition, the two different-frequency transmitting transducers of the present invention are used as active sound sources. Since the active sound source is located inside the UUV, the drag array is a light single-line array, which can realize the storage and drag array to the inside of the UUV. When maneuvering, the tow line array can be stowed inside the UUV.

Description of drawings

Fig. 1 is the single towed line array sonar component of the present invention with the capability of fast resolution of port and starboard targets and their assembly schematic diagram on the UUV platform. It should be noted that Fig. 1 is only a schematic diagram, and each component is assembled on the UUV platform. The location also needs to be determined by the overall requirements of the UUV platform;

Fig. 2 is a schematic sectional view of the cabin section of the sound source emission array of the system of the present invention; similarly, Fig. 2 is only a schematic diagram, and the specific shapes of the two different frequency emission transducer arrays and the sound baffle are also determined according to actual needs.

Detailed ways

The present invention will now be further described with reference to the accompanying drawings.

As shown in Figures 1 and 2, the present invention proposes a single towed line array sonar starboard and starboard target rapid resolution system. The single towed line array sonar is based on a sound source transmitting array and a single towed line sonar receiving array. The left and right transmit different frequency signals, the single towed sonar receiving array receives the signal, the data processing module processes the signal and the intensity judgment, and realizes the rapid discrimination of the star and starboard targets of the single towed array sonar. Compared with the traditional technology, the towed array sonar reduces the number of towed array sonar. complexity, capital cost, and port and starboard target resolution time.

Specifically, the discrimination system includes: a sound source transmitting array, a single-towing sonar receiving array, and a data processing module; the single-towing sonar receiving array is towed by an autonomous underwater vehicle, and the sound source transmitting array and data The processing module is set in the autonomous underwater vehicle platform;

The sound source emission array includes: a first transducer and a second transducer; the first transducer and the second transducer respectively transmit the left radiation signal of the center frequency f1 and the right radiation signal of the center frequency f2, as the left sound. source and right sound source; the center frequency f1 of the left radiated signal is different from the center frequency f2 of the right radiated signal;

The single tow line sonar receiving array is used to receive the echo signals of the left radiated signal of the center frequency f1 and the right radiated signal of the center frequency f2 when the target is encountered underwater respectively, as the left echo signal and the right echo signal; and transmit the left echo signal and right echo signal received by the single tow line sonar receiving array to the data processing module;

The data processing module is used to perform signal processing, detection and discrimination on the left echo signal and the right echo signal, and according to the echo signal processing and detection discrimination results, the discriminating target is located on the port side or the starboard side.

As one of the improvements of the above technical solutions, the first transducer and the second transducer are symmetrically distributed, and an acoustic baffle is arranged between them.

As one of the improvements of the above technical solutions, the first transducer and the second transducer are inter-frequency transducers.

As one of the improvements of the above technical solutions, the left sound source is fan-shaped, square, or composed of a plurality of transducers to emit an array sound source.

As one of the improvements of the above technical solutions, the right sound source is fan-shaped, square, or composed of a plurality of transducers to emit an array sound source.

As one of the improvements of the above technical solutions, the data processing module specifically includes: a data acquisition unit, a processing unit and a discrimination unit; wherein,

The data acquisition unit is used to acquire the echo signals of the left radiation signal and the right radiation signal when they meet the target underwater respectively, as the left echo signal and the right echo signal; and receive the single tow line sonar receiving array. The received left echo signal and right echo signal are transmitted to the processing unit;

The processing unit is configured to perform signal processing on the acquired left echo signal and right echo signal; acquire the echo target azimuth and echo target intensity;

The distinguishing unit is used for distinguishing that the target is located on the port side or the starboard side according to the echo signal processing and detection and distinguishing results.

Based on the above-mentioned single-tow line array sonar port and starboard target rapid identification system, the present invention also provides a single-tow line array sonar port and starboard target rapid identification method, the method includes:

The first transducer transmits the left radiation signal of the center frequency f1 as the left sound source; the second transducer transmits the right radiation signal of the center frequency f2 as the right sound source;

The single-trailer sonar receiving array receives the left echo signal and the right echo signal; and performs echo signal processing and target detection on the two respectively to obtain the corresponding echo target azimuth and echo target intensity; The echo signal is the echo signal when the radiation signal on the left side of the center frequency f1 meets the target underwater; the right echo signal is the echo signal when the radiation signal on the right side of the center frequency f2 meets the target underwater;

According to the obtained corresponding echo target azimuth and echo target intensity, distinguish whether the target is located on the port or starboard side.

As one of the improvements of the above technical solutions, the single-tow line sonar receiving array receives the left echo signal and the right echo signal, and performs signal processing and target detection on the two respectively, so as to obtain the corresponding echo target azimuth and echo signal. Wave target strength; specifically includes:

Separate the left echo signal and the right echo signal received by the single drag line array to obtain the left echo signal data and the right echo signal data; specifically, band-pass the left echo signal and the right echo signal respectively Filtering (the bandwidth of the band-pass filter should consider the Doppler frequency shift factor), respectively filter out the echo data of the center frequency f1 signal and the echo data of the center frequency f2 signal, and obtain the left echo signal data and the right echo signal data ;

Perform beamforming on the left echo signal data and the right echo signal data respectively, obtain the echo data of the left echo signal data in the range of 0-180 degrees in all directions, and obtain the right echo signal data in the range of 0-180 degrees echo data in all directions;

Perform target detection on the echo data of the left echo signal data in all directions within the range of 0-180 degrees and the echo data of the right echo signal data in the range of 0-180 degrees in all directions;

Count and label the detected left echo signal target and right echo signal target respectively, and extract the corresponding echo target azimuth and echo target intensity; wherein, the echo target intensity is the echo amplitude of the left echo signal value or the echo amplitude of the right echo signal.

As one of the improvements of the above-mentioned technical solutions, according to the obtained processing result, the distinguishing target is located on the port side or the starboard side; specifically, it includes:

If in a certain azimuth, the left echo signal processing result has a target, but the right echo signal processing result has no target, then the target is located on the port side;

If in a certain azimuth, the left echo signal processing result has no target, and the right echo signal processing result has a target, then the target is located on the starboard side;

If the processing results of the left echo and right echo signals show that there are targets in a certain azimuth, further distinguish the echo target strength of the left echo signal and the echo target strength of the right echo target: due to the left sound source and There is a sound baffle between the right sound sources. Even if the left f1 center frequency sound source can transmit to the right, the sound source level will be about 10dB lower than the right f2 center frequency sound source. On the contrary, even if the right f2 center frequency sound source can transmit If it transmits to the left, due to the sound barrier effect of the sound baffle, the sound source level will also be lower than the left f1 center frequency sound source by about 10dB.

If the echo target strength of the left echo signal is greater than that of the right echo signal, the target is located on the port side;

If the echo target strength of the left echo signal is less than the echo target strength of the right echo signal, the target is on the starboard side.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that any modification or equivalent replacement of the technical solutions of the present invention will not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the present invention. within the scope of the claims.

Claims (9)

1. A single-towed linear array sonar port and starboard target fast resolution system is characterized by comprising: the system comprises a sound source transmitting array, a single-towed-line sonar receiving array and a data processing module; the single-tow-line sonar receiving array is towed by an autonomous underwater vehicle, and the sound source transmitting array and the data processing module are arranged in an autonomous underwater vehicle platform;

the sound source emitting array includes: a first transducer and a second transducer; the first transducer and the second transducer respectively emit a left radiation signal with a center frequency f1 and a right radiation signal with a center frequency f2 as a left sound source and a right sound source; the center frequency f1 of the left radiation signal is different from the center frequency f2 of the right radiation signal, and the mixed left and right radiation signals can be separated through frequency domain filtering or other signal processing modes;

the single-towed-line sonar receiving array is used for receiving echo signals when a left radiation signal with a center frequency f1 and a right radiation signal with a center frequency f2 meet a target underwater respectively, and the echo signals are used as a left echo signal and a right echo signal; the left echo signal and the right echo signal received by the single-towed-line sonar receiving array are transmitted to the data processing module;

and the data processing module is used for carrying out signal processing and detection resolution on the left echo signal and the right echo signal, and distinguishing that the target is positioned on a port or a starboard according to the echo signal processing and detection resolution result.

2. The system of claim 1, wherein the first transducer and the second transducer are symmetrically disposed with an acoustic baffle disposed therebetween.

3. The system of claim 1, wherein the first and second transducers are inter-frequency transmitting transducers or transmitting transducers capable of transmitting inter-frequency signals.

4. The system of claim 1, wherein the left sound source is a fan, a square, or a transmitting array sound source consisting of a plurality of transducers.

5. The system of claim 1, wherein the right sound source is a fan, a square, or a transmitting array sound source consisting of a plurality of transducers.

6. The system of claim 1, wherein the data processing module comprises: the device comprises a data acquisition unit, a processing unit and a distinguishing unit; wherein,

the data acquisition unit is used for acquiring echo signals of the left radiation signal and the right radiation signal when the left radiation signal and the right radiation signal meet a target underwater respectively as a left echo signal and a right echo signal; the left echo signal and the right echo signal received by the single-towed-line sonar receiving array are transmitted to the processing unit;

the processing unit is used for carrying out signal processing on the acquired left echo signal and the acquired right echo signal; acquiring the azimuth of an echo target and the intensity of the echo target;

and the distinguishing unit is used for distinguishing whether the target is positioned on a port or a starboard according to the echo signal processing and detecting distinguishing result.

7. A method for rapidly resolving a single-towed linear array sonar port and starboard target, which is implemented by the system of any one of claims 1-4; the method comprises the following steps:

the first transducer transmits a left radiated signal at frequency f1 as a left sound source; the second transducer transmits a right radiation signal with the frequency f2 as a right sound source;

the single-towline sonar receiving array receives a left echo signal and a right echo signal; respectively processing echo signals and detecting targets to obtain corresponding echo target directions and echo target intensities; wherein, the left echo signal is an echo signal when the left radiation signal with the center frequency f1 meets a target underwater; the right echo signal is an echo signal when the right radiation signal with the center frequency f2 meets a target underwater;

and distinguishing whether the target is positioned on the port or the starboard according to the obtained corresponding echo target position and the obtained corresponding echo target strength.

8. The resolving method according to claim 7, wherein the single-towline sonar receiving array receives a left echo signal and a right echo signal, and performs signal processing and target detection on the left echo signal and the right echo signal respectively to obtain a corresponding echo target azimuth and echo target intensity; the method specifically comprises the following steps:

separating a left echo signal and a right echo signal received by the single-towed linear array to obtain left echo signal data and right echo signal data; specifically, band-pass filtering is performed on the left echo signal and the right echo signal respectively, so as to correspondingly filter out central frequency f1 signal echo data and central frequency f2 signal echo data respectively, and obtain left echo signal data and right echo signal data;

respectively carrying out beam forming on the left echo signal data and the right echo signal data, acquiring echo data of the left echo signal data in each direction within the range of 0-180 degrees, and acquiring echo data of the right echo signal data in each direction within the range of 0-180 degrees;

respectively carrying out target detection on echo data of each direction with left echo signal data within the range of 0-180 degrees and echo data of each direction with right echo signal data within the range of 0-180 degrees;

and respectively counting and labeling the detected left echo signal target and the right echo signal target, and extracting the corresponding echo target direction and echo target strength.

9. The resolving method according to claim 7, wherein the resolving target is located port or starboard according to the obtained corresponding echo target azimuth and echo target intensity; the method specifically comprises the following steps:

if the left echo signal processing result has a target in a certain direction and the right echo signal processing result has no target, the target is positioned on the port;

if the left echo signal processing result has no target and the right echo signal processing result has a target in a certain direction, the target is positioned on the starboard;

if the left echo signal processing result and the right echo signal processing result show that targets exist in a certain azimuth, further distinguishing the echo target intensity of the left echo signal from the echo target intensity of the right echo signal:

if the echo target intensity of the left echo signal is greater than the echo target intensity of the right echo signal, the target is positioned on the port side;

if the echo target intensity of the left echo signal is less than the echo target intensity of the right echo signal, then the target is located starboard.

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