CN117872333B - Distribution depth optimization method for receiving and transmitting split sonar - Google Patents
Distribution depth optimization method for receiving and transmitting split sonar Download PDFInfo
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- 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
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- G—PHYSICS
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- 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
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Abstract
The embodiment of the disclosure relates to a deployment depth optimization method for receiving and transmitting a split sonar. The method comprises the following steps: determining the position of a transmitter and the position of a receiver, and predicting the probability distribution of the detection target along the depth by combining the underwater sound environment information and the radiation noise intensity of the detection target; setting a transmitting depth resolution and a receiving depth resolution according to the underwater sound environment information, the position of the transmitter and the position of the receiver, and performing gridding; according to probability distribution, transmitting depth resolution and receiving depth resolution of the detection target along the depth, taking the signal-to-interference ratio as a detection performance evaluation index, calculating a first receiving signal-to-interference ratio on each receiving-transmitting pair based on an acoustic propagation model, and forming an objective function ambiguity surface; and obtaining the optimal placement position according to the objective function ambiguity surface. According to the embodiment of the disclosure, a calculation basis and an optimization method are provided for the placement depth, and the receiving and transmitting separated sonar detection performance based on forward sound scattering and source-induced internal wave sound field abnormal characteristics is improved.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of underwater sound detection, in particular to a deployment depth optimization method for receiving and transmitting split sonar.
Background
The research shows that when the target is near the receiving and transmitting connection line of the receiving and transmitting separated sonar, the detection signal excites the forward sound scattering signal on the target body, so that the intensity of the receiving sound field is abnormal. In addition, the underwater target inevitably and continuously discharges surrounding water bodies when in motion, and the water bodies are reciprocally oscillated under the combined action of gravity and buoyancy in the ocean with layered density, so as to form source induced internal waves. When the target moves to the vicinity of the connecting line of the receiving-transmitting separated sonar, the sound velocity profile between the receiving-transmitting is continuously changed by the source induced internal wave, and the abnormal intensity of the receiving sound field is excited, so that the characteristic can be used for stealth target detection. However, due to the masking effect of the background sound field directly transmitted from the sound source to the receiver in time, frequency and space domain, the signal-to-interference ratio is very low, and the abnormal characteristics of the sound field caused by the target are difficult to directly extract. The multipath effect of the underwater acoustic channel is serious, and different transceiving depths have obvious influence on the detection performance of the system. And when the receiving and transmitting distance is fixed, the receiving signal-to-interference ratio is related to the underwater sound channel environment, the target position, the sound source and the receiving depth, and a local high signal-to-interference ratio area favorable for detection is necessarily present. However, the uncertainty of the depth of the target (and the source-induced internal wave) causes the signal-to-direct ratio at a certain point of the received sound field to become an uncertain amount, the sound source and the receiver of the detection sonar lack the basis, and the receiving and transmitting depth is difficult to evaluate.
Disclosure of Invention
In order to avoid the defects of the prior art, the invention provides a deployment depth optimization method for receiving and dispatching a split sonar, which is used for solving the problems that in the prior art, the uncertainty of the target depth causes the signal-to-direct ratio at a certain point of a received sound field to become an uncertain quantity, the deployment of a sound source and a receiver of a detected sonar lacks basis, and the receiving and dispatching depth is difficult to evaluate.
According to an embodiment of the present disclosure, there is provided a depth of placement optimization method for receiving and transmitting a split sonar, the method including:
determining the position of a transmitter and the position of a receiver, and predicting probability distribution of a detection target along the depth by combining underwater sound environment information and the radiation noise intensity of the detection target;
setting a transmitting depth resolution and a receiving depth resolution according to the underwater sound environment information, the position of the transmitter and the position of the receiver, and meshing;
According to the probability distribution of the detection target along the depth, the transmission depth resolution and the receiving depth resolution, taking the signal-to-interference ratio as a detection performance evaluation index, calculating a first receiving signal-to-interference ratio on each receiving-transmitting pair based on an acoustic propagation model, and forming an objective function ambiguity surface;
And obtaining the optimal placement position according to the objective function ambiguity surface.
Further, the step of predicting the probability distribution of the detection target along the depth by combining the underwater sound environment information and the radiation noise intensity of the detection target includes:
dividing the sea area with the distribution of the detection targets into a plurality of depth grids, and dividing the sea area with the distance R and the depth H into M multiplied by N matrixes S by taking the detection targets as centers;
Simulating the radiation noise field of the detection target in depth according to the radiation noise intensity of the detection target based on the acoustic propagation model, and calculating the propagation loss of each depth grid;
calculating the quality factors of each point on the matrix S according to a passive sonar equation;
Calculating the number of elements with the propagation loss larger than the quality factor in the matrix S when the detection target is deeply submerged to a preset depth, and marking the number as C;
Traversing all the depth grids to obtain the corresponding element numbers in each depth, and obtaining the probability distribution of the detection target along the depth.
Further, the expression of the figure of merit is:
（1）
wherein, FOM is a quality factor, To detect the target radiated noise level,/>For marine environmental noise level,/>Gain for passive sonar processing,/>The threshold is detected for passive sonar.
Further, the probability distribution of the detection target along the depth is as follows:
（2）
Wherein, For propagation loss, h d is the depth grid, d is the grid element depth, s is the minimum target voyage depth, and b is the maximum target voyage depth.
Further, the step of setting and gridding the transmission depth resolution and the reception depth resolution according to the underwater sound environment information, the position of the transmitter and the position of the receiver includes:
Setting the depth of transmission resolution as d s and the depth of reception resolution as d r based on the underwater sound environment information, the position of the transmitter and the position of the receiver;
Dividing a depth distribution grid along the transmitter and a depth distribution grid along the receiver from the sea surface to the sea bottom; the number of the transmitters along the depth distribution grid is K, and the number of the receivers along the depth distribution grid is L.
Further, according to the probability distribution of the detection target along the depth, the transmission depth resolution and the reception depth resolution, using the signal-to-interference ratio as a detection performance evaluation index, calculating a first reception signal-to-interference ratio on each receiving-transmitting pair by using an acoustic propagation model, and forming an objective function ambiguity surface, the method comprises the following steps:
Calculating a first received signal-to-noise ratio for the absence of a target and a second received signal-to-noise ratio for the presence of a target based on the acoustic propagation model for any pair of the position of the transmitter and the position of the receiver (k, l); wherein K epsilon K and L epsilon L, and the position of the transmitter and the position of the receiver are one of the transceiver pairs;
according to the first receiving signal-to-noise ratio and the second receiving signal-to-noise ratio, combining a receiving-transmitting separate sonar equation, and calculating a second receiving signal-to-interference ratio at the current position of the transmitter and the position of the receiver;
Obtaining a first receiving signal-to-interference ratio when the target appears at each point of the depth network according to the second receiving signal-to-interference ratio;
-taking a weighted sum of said first received signal-to-interference ratios as an objective function of said transmitter and said receiver depth variations;
and traversing the positions of all the transmitters and the positions of the receivers, calculating an objective function of depth change of the transmitters and the receivers, and forming an objective function ambiguity surface.
Further, when there is no target, the expression of the first received signal-to-noise ratio is:
（3）
Wherein, To emit sound source level,/>Is background sound field propagation loss without target,/>For ambient noise level,/>A first received signal to noise ratio when there is no target;
when the target exists, the expression of the second receiving signal-to-noise ratio is as follows:
（4）
Wherein, For the acoustic propagation loss of the transmitter to the target location,/>For the target intensity,/>For the acoustic propagation loss at the target to the receiving location,/>A second received signal to noise ratio for the targeted time;
The expression of the second receiving signal-to-interference ratio is:
（5）
Wherein SIR is the second received signal-to-interference ratio;
According to the position of any pair of the transmitter and the position of the receiver (k, l), and the target depth The first receiving signal-to-interference ratio/>, corresponding to the formed detection scene, is obtained；
The expression of the objective function is:
（6）
wherein E k,l is an objective function, For the first received signal-to-interference ratio, P T is the probability distribution of the target edge depth.
Further, the expression of the optimal placement position is:
（7）
Wherein E m is the optimal placement position of the sonar.
Further, the underwater sound environment information at least includes:
Environmental water depth data, sub-sea topography data, and geological data.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
According to the method for optimizing the depth of placement of the receiving and dispatching sonar, on one hand, through input of underwater sound environment information, target radiation noise intensity and given positions of a receiver and a transmitter, probability distribution of target along depth is calculated, a first receiving signal-to-interference ratio is calculated under the condition of pairing of various receiver-to-receiver depths, an ambiguity plane which changes with the receiving and dispatching depth is drawn according to the first receiving signal-to-interference ratio, and optimization of the depth of placement of the receiving and dispatching sonar is achieved. On the other hand, a calculation basis and an optimization method are provided for the arrangement depth, and the receiving and transmitting separated sonar detection performance based on forward sound scattering and source-induced internal wave sound field abnormal characteristics is improved.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
Fig. 1 illustrates a step diagram of a depth of placement optimization method for transceiving a split sonar in an exemplary embodiment of the present disclosure;
FIG. 2 illustrates a cross-sectional view of the speed of sound of a shallow sea in an exemplary embodiment of the present disclosure;
FIG. 3 illustrates a schematic diagram of a probing scene in an exemplary embodiment of the present disclosure;
FIG. 4 shows a flow chart of an implementation of a depth of placement optimization method for transceiving split sonar in an exemplary embodiment of the present disclosure;
FIG. 5 shows a schematic diagram of a target radiated noise field (100 Hz) in an exemplary embodiment of the present disclosure;
FIG. 6 illustrates a graph of probability of a distribution of targets along depth in an exemplary embodiment of the disclosure;
FIG. 7 illustrates an objective function ambiguity surface diagram in an exemplary embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of embodiments of the disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities.
The embodiment provides a deployment depth optimization method for receiving and transmitting the split sonar. Referring to fig. 1, the deployment depth optimization method of the receiving and transmitting split sonar may include: step S101 to step S104.
Step S101: determining the position of a transmitter and the position of a receiver, and predicting probability distribution of a detection target along the depth by combining underwater sound environment information and the radiation noise intensity of the detection target;
Step S102: setting a transmitting depth resolution and a receiving depth resolution according to the underwater sound environment information, the position of the transmitter and the position of the receiver, and meshing;
Step S103: according to the probability distribution of the detection target along the depth, the transmission depth resolution and the receiving depth resolution, using the signal-to-interference ratio as a detection performance evaluation index, calculating a first receiving signal-to-interference ratio on each receiving-transmitting pair by using an acoustic propagation model, and forming an objective function ambiguity surface;
step S104: and obtaining the optimal placement position according to the objective function ambiguity surface.
According to the method for optimizing the depth of deployment of the receiving and transmitting split sonar, on one hand, through input of underwater sound environment information, target radiation noise intensity and given positions of a receiver and a transmitter, probability distribution of target along depth is calculated, a first receiving signal-to-interference ratio is calculated under the condition of pairing of various receiver-receiver depths, and an ambiguity plane which changes along with the receiving and transmitting depth is drawn according to the first receiving signal-to-interference ratio, so that optimization of the depth of deployment of the receiving and transmitting split sonar is achieved. On the other hand, a calculation basis and an optimization method are provided for the arrangement depth, and the receiving and transmitting separated sonar detection performance based on forward sound scattering and source-induced internal wave sound field abnormal characteristics is improved.
Next, respective portions of the deployment depth optimization method of the above-described transmission and reception split sonar in the present exemplary embodiment will be described in more detail with reference to fig. 1 to 7.
In step S101, the position of the transmitter and the position of the receiver are determined, and the probability distribution of the detection target along the depth is calculated in combination with the underwater sound environment information and the radiation noise intensity of the detection target.
Specifically, the transmitting end (i.e., the transmitter) is formed by a single sound source, the receiving end (i.e., the receiver) is formed by a single hydrophone, and the detection area is near a two-dimensional vertical plane between the sound source and the hydrophone. Basic information of the underwater acoustic environment applied by the measuring system comprises the environmental water depth, submarine topography, substrate parameters and the like; the positions of a system sound source and a receiver are set for a certain target with S dB radiation noise.
The probability distribution of the detection target along the depth is calculated using the environmental information, the target noise level (assumption). The specific process is as follows:
the first step: assuming that the target (i.e., the probe target) is centered on the transmit-receive line, at a resolution in distance Dividing the target distribution depth grid/>, along the depthWherein/>For the minimum of the submergence depth (maximum depth visually found by the counterdiver)/>Is the maximum submergence depth (the corresponding depth that maintains a safe distance from the sea floor). Centering on the target, distance/>Depth/>Sea area division of/>And is named/>Based on the acoustic propagation model, the radiation noise field of the target at depth is simulated from the assumed radiation noise level of the target, and the propagation loss at each grid (depth grid) is calculated. The acoustic propagation model is a ray acoustic model bellhop, and the method for simulating the radiation noise field of the target in depth by the assumed radiation noise level of the target and the method for calculating the propagation loss are the prior art and are not described herein.
And a second step of: calculating a matrix according to a passive sonar equationQuality factor of each point on the upper part/>The result is shown in formula (1):
（1）
Wherein, For submarine radiation noise level,/>For marine environmental noise level,/>For the passive sonar processing gain,The physical quantity units are decibels for passive sonar detection threshold. In matrix/>At some point, when the figure of merit isTargets are considered found, and vice versa.
And a third step of: calculating the depth of divingTime matrix/>The number of elements within which is greater than the figure of merit is also denoted/>，The greater the likelihood that the target will be found, the lower the probability that the target will navigate at that depth.
Fourth step: at all depths of the gridRepeating the above three steps to obtain/>Individual matrix/>(I.e., propagation loss) and figures of merit, calculate in each case/>The probability of the target along the depth distribution is shown as formula (2):
（2）
In step S102, the transmission depth resolution and the reception depth resolution are determined from the underwater sound environment information, the position of the transmitter, and the position of the receiver.
Specifically, based on environmental information and the receiving and transmitting positions of the detection system, the depth distribution grids of the transmitters and the receivers from the sea surface to the sea bottom are divided by setting the transmitting depth resolution to d s and the receiving depth resolution to d r, the number of the transmitters along the depth distribution grids is K, and the number of the receivers along the depth distribution grids is L.
In step S103, according to the probability distribution of the detection target along the depth, the transmission depth resolution and the reception depth resolution, the signal-to-interference ratio is used as the detection performance evaluation index, and the first reception signal-to-interference ratio on each receiving-transmitting pair is calculated based on the acoustic propagation model, and the objective function ambiguity surface is formed.
Specifically, according to the results of step S102 and step S103, the signal-to-interference ratio is used as a performance evaluation index, and the first signal-to-interference ratio on each transceiver pair is calculated based on the acoustic propagation model, and an objective function ambiguity surface is formed, and the specific process is as follows:
Step 1: according to the given sound source (i.e. the transmitter) and the receiver position, calculating the sound propagation loss when the target exists or not based on the sound propagation model, and calculating the receiving signal-to-interference ratio by combining with a receiving-transmitting separated sonar equation.
When no target exists, the transmit-receive split sonar equation is expressed as follows:
（3）
Wherein, To emit sound source level,/>Is background sound field propagation loss without target,/>For ambient noise level,/>Is the first received signal to noise ratio at no target.
When there is a target:
（4）
Wherein, For acoustic propagation loss of the acoustic source to the target location,/>For the target intensity,/>For the acoustic propagation loss at the target to the receiving location,/>Is the second received signal to noise ratio at the target.
For any pair of sound source and receiver, subtracting the formula (3) from the formula (4) when there is a targetThe result is shown in formula (5):
（5）
Based on the acoustic propagation model, each propagation loss in equation (5) can be calculated, and the second reception signal-to-interference ratio SIR at the current transmit-receive depth is obtained.
Step 2: pairing arbitrary "sound source-receiverAnd target depth/>The composed detection scene is written with its received signal-to-interference ratio as/>(I.e., the first received signal-to-interference ratio). Appear targets in the depth grid/>The weighted sum of the first received signal-to-interference ratios at each point is taken as the objective function and noted as/>Then it can be written as formula (6):
（6）
step 3: traversing individual source-receiver depths Co/>In the case of the model, the objective function/>, as a function of sound source and receiver depth, is calculatedAnd constitute an ambiguity surface.
In step S104, an optimal placement position is obtained according to the objective function ambiguity surface.
Specifically, the global maximum is taken according to equation (7) according to the ambiguity surface obtained in step S103And obtains the corresponding optimal 'sound source-receiver' layout depth combination.
（7）
In a specific embodiment, the underwater sound detection targeting a shallow sea quiet submarine comprises the steps of:
The background information is as follows: shallow sea depths of 200m, and submarine topography and sonic velocity profiles do not vary with distance. A typical layered sonic profile is shown in FIG. 2, with 0m to 50m depth being the mixed layer, 50m to 100m being the strong jump layer, 100m to 200m being the isothermal layer. A single acoustic source and receiving hydrophone were used to form a transceiver separation detection system, the results of which are shown in figure 3. Where a1, b1 and c1 are 3 positions of the transmitter on the depth grid, respectively, and a2, b2 and c2 are 3 positions of the receiver on the depth grid, respectively. The transmit-receive distance was 10km, the target radiated noise level was 129 dB@100Hz, at a horizontal distance of 5 km.
The sonar ranging depth optimization process is shown in fig. 4, and is specifically as follows:
Step S101: determining the transmitting and receiving positions: an example environment is a distance-invariant environment, where the source is anywhere from 10 km a distance from the receiver, the target radiated noise level 129db@100hz. Studies have shown that the signal-to-direct ratio of the target at the center of the transmit-receive line is the lowest and thus calculated as the worst case.
Calculating probability of target distribution along with depth
The first step: setting the upper and lower limits of the target depth as respectively、/>To/>Dividing a target depth grid and simulating depth/>Target of (1) in the range/>Depth ofIs included in the radiation noise field of the (c). Dividing the sound field into/>, with a depth resolution of 1m and a distance resolution of 5mThe grid points are denoted as matrix/>Wherein/>，/>The results are shown in FIG. 5.
And a second step of: according to the passive sonar equation, calculating the figure of merit. The marine ambient noise level at 100Hz is 84/>. Setting the processing gain/>, based on the experience of passive sonobuoy detectionDetection thresholdThe result is shown in formula (1):
（1）
And a third step of: will be at depth Propagation loss matrix of target/>Each element is compared with a figure of merit, and the calculation is greater than/>The number of elements is also referred to as/>。
Fourth step: the above procedure is repeated on all the target depth grid points, and the probability distribution of the target along the depth is plotted according to equation (2), and the result is shown in fig. 6.
（2）
Step S102: based on the environment information and the receiving and transmitting position of the detection system, setting the depth calculation resolution asAnd/>10M, and dividing the distribution grids of the transmitter and the receiver along the depth from 10m of the sea surface to 190m of the sea bottom, and the number of sound sources and receiving gridsAnd/>All 19.
Step S103: according to the results of step S101 and step S102, calculating an objective function ambiguity surface based on the acoustic propagation model, wherein the specific process is as follows:
step 1: according to the given sound source and receiver positions, calculating the sound propagation loss when the target exists or not based on the sound propagation model, and calculating a first receiving signal-to-interference ratio by combining a receiving-transmitting split sonar equation.
When no target exists, the transmit-receive split sonar equation is expressed as follows:
（3）
Wherein, To emit sound source level,/>Is background sound field propagation loss without target,/>For ambient noise level,/>The sound pressure level (i.e., the first received signal-to-noise ratio) is received for the background signal when no target is present.
When there is a target:
（4）
Wherein, For acoustic propagation loss of the acoustic source to the target location,/>For the target intensity,/>For the acoustic propagation loss at the target to the receiving location,/>The sound pressure level (i.e., the second received signal-to-noise ratio) is received for the scattered signal when the object is present.
For any pair of sound source and receiver, subtracting the formula (3) from the formula (4) when there is a targetThe result is shown in formula (5):
（5）
Based on the acoustic propagation model, a plurality of propagation losses in the formula (5) can be calculated, and then a second receiving signal-to-interference ratio under the condition of the current receiving and transmitting depth is obtained.
Step 2: pairing arbitrary "sound source-receiverAnd target depth/>Obtain the first receiving signal trunk/>. Targeting at depth grid/>The first received signal-to-interference ratio at each point is weighted and summed as an objective function and recorded as/>Then it can be written as formula (6):
（6）
Step 3: traversing individual sound sources and receiver depths Co/>In the case of the model, the objective function/>, as a function of sound source and receiver depth, is calculatedAnd constitutes an ambiguity surface, the result of which is shown in figure 7.
Step S104: taking the global maximum according to equation (7) based on the ambiguity surface obtained in step S104And obtains the corresponding optimal 'sound source-receiver' layout depth combination.
（7）
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, one skilled in the art can combine and combine the different embodiments or examples described in this specification.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (9)
1. The method for optimizing the depth of placement of the receiving and transmitting split sonar is characterized by comprising the following steps:
determining the position of a transmitter and the position of a receiver, and predicting probability distribution of a detection target along the depth by combining underwater sound environment information and the radiation noise intensity of the detection target;
setting a transmitting depth resolution and a receiving depth resolution according to the underwater sound environment information, the position of the transmitter and the position of the receiver, and meshing;
According to the probability distribution of the detection target along the depth, the transmission depth resolution and the receiving depth resolution, taking the signal-to-interference ratio as a detection performance evaluation index, calculating a first receiving signal-to-interference ratio on each receiving-transmitting pair based on an acoustic propagation model, and forming an objective function ambiguity surface;
And obtaining the optimal placement position according to the objective function ambiguity surface.
2. The deployment depth optimization method of receiving and transmitting split sonar according to claim 1, wherein said step of predicting a probability distribution of a detection target along a depth by combining underwater sound environment information and a radiation noise intensity of the detection target comprises:
dividing the sea area with the distribution of the detection targets into a plurality of depth grids, and dividing the sea area with the distance R and the depth H into M multiplied by N matrixes S by taking the detection targets as centers;
Simulating the radiation noise field of the detection target in depth according to the radiation noise intensity of the detection target based on the acoustic propagation model, and calculating the propagation loss of each depth grid;
calculating the quality factors of each point on the matrix S according to a passive sonar equation;
Calculating the number of elements with the propagation loss larger than the quality factor in the matrix S when the detection target is deeply submerged to a preset depth, and marking the number as C;
Traversing all the depth grids to obtain the corresponding element numbers in each depth, and obtaining the probability distribution of the detection target along the depth.
3. The deployment depth optimization method of receiving and transmitting split sonar according to claim 2, wherein the expression of the figure of merit is:
（1）
wherein, FOM is a quality factor, To detect the target radiated noise level,/>For marine environmental noise level,/>Gain for passive sonar processing,/>The threshold is detected for passive sonar.
4. The deployment depth optimization method of receiving and transmitting the split sonar according to claim 3, wherein the probability distribution of the detection target along the depth is:
（2）
Wherein, For propagation loss, h d is the depth grid, d is the grid depth, s is the minimum target voyage depth, and b is the maximum target voyage depth.
5. The method for optimizing depth of placement of a transceiver of claim 4, wherein the step of setting and gridding a depth of transmission resolution and a depth of reception resolution based on the underwater sound environment information, the position of the transmitter, and the position of the receiver comprises:
Setting the depth of transmission resolution as d s and the depth of reception resolution as d r based on the underwater sound environment information, the position of the transmitter and the position of the receiver;
Dividing a depth distribution grid along the transmitter and a depth distribution grid along the receiver from the sea surface to the sea bottom; the number of the transmitters along the depth distribution grid is K, and the number of the receivers along the depth distribution grid is L.
6. The method for optimizing depth of placement of receiving and transmitting split sonar according to claim 5, wherein the step of calculating a first received signal-to-interference ratio on each receiving and transmitting pair by using an acoustic propagation model based on a probability distribution of the detected target along a depth, the transmission depth resolution, and the reception depth resolution with a signal-to-interference ratio as a detection performance evaluation index, and forming an objective function ambiguity surface comprises:
Calculating a first received signal-to-noise ratio for the absence of a target and a second received signal-to-noise ratio for the presence of a target based on the acoustic propagation model for any pair of the position of the transmitter and the position of the receiver (k, l); wherein K epsilon K and L epsilon L, and the position of the transmitter and the position of the receiver are one of the transceiver pairs;
according to the first receiving signal-to-noise ratio and the second receiving signal-to-noise ratio, combining a receiving-transmitting separate sonar equation, and calculating a second receiving signal-to-interference ratio at the current position of the transmitter and the position of the receiver;
obtaining a first receiving signal-to-interference ratio when the detection target appears at each point of the depth grid according to the second receiving signal-to-interference ratio;
-taking a weighted sum of said first received signal-to-interference ratios as an objective function of said transmitter and said receiver depth variations;
and traversing the positions of all the transmitters and the positions of the receivers, calculating an objective function of depth change of the transmitters and the receivers, and forming an objective function ambiguity surface.
7. The method for optimizing depth of placement of receiving and transmitting split sonar according to claim 6, wherein when there is no target, the expression of the first received signal-to-noise ratio is:
（3）
Wherein, To emit sound source level,/>Is background sound field propagation loss without target,/>For the level of ambient noise to be present,A first received signal to noise ratio when there is no target;
when the target exists, the expression of the second receiving signal-to-noise ratio is as follows:
（4）
Wherein, For the acoustic propagation loss of the transmitter to the target location,/>For the target intensity,/>For the acoustic propagation loss at the target to the receiving location,/>A second received signal to noise ratio for the targeted time;
The expression of the second receiving signal-to-interference ratio is:
（5）
Wherein SIR is the second received signal-to-interference ratio;
According to the position of any pair of the transmitter and the position of the receiver (k, l), and the target depth The first receiving signal-to-interference ratio/>, corresponding to the formed detection scene, is obtained；
The expression of the objective function is:
（6）
wherein E k,l is an objective function, For the first received signal-to-interference ratio, P T is the target along-depth probability distribution.
8. The deployment depth optimization method of the receiving and dispatching split sonar of claim 7, wherein the expression of the optimal deployment position is:
（7）
Wherein E m is the optimal placement position of the sonar.
9. The deployment depth optimization method of receiving and transmitting split sonar according to claim 1, wherein said underwater acoustic environment information at least includes:
Environmental water depth data, sub-sea topography data, and geological data.
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