Hydrophone direction finding method and device, computer readable storage medium and computer equipment

Abstract

The invention relates to a hydrophone direction finding method, a hydrophone direction finding device, a computer readable storage medium and computer equipment. The hydrophone direction finding method comprises the steps of: firstly, acquiring various paths of hydroacoustic signals output by a directional hydrophone array; subjecting the various paths of hydroacoustic signals to discrete Fourieroperation separately, so as to obtain each path of hydroacoustic energy spectrum corresponding to each path of hydroacoustic signal; and acquiring an azimuth value of direction finding at present according to various paths of the hydroacoustic energy spectra, wherein directivity of the directional hydrophone array covers a 360-degree hydroacoustic singal measurement range. The hydrophone directionfinding method and the hydrophone direction finding device can acquire various paths of hydroacoustic signals covering the 360-degree measurement range by means of the hydrophone array, so that the acquired hydroacoustic singal measurement range is complete without omission, the azimuth value of direction finding at present is obtained by adopting a method of acquiring the energy spectra, the anti-reverberation capability is high, and the hydrophone direction finding method and the hydrophone direction finding device are suitable for the complex underwater environments with reverberation andmultipath.

Description

technical field [0001] The invention relates to the technical field of sonar direction finding, in particular to a hydrophone direction finding method, device, computer-readable storage medium and computer equipment. Background technique [0002] Since the 19th century, people began to use various means to explore the ocean. In the 20th century, underwater robot technology, as an important means for human beings to explore the ocean, has attracted widespread attention. In the 21st century, the ocean has become the focus of international strategic competition, and underwater robots have also become the focus of high-tech research. [0003] Underwater robots can replace divers to complete underwater operations in complex and dangerous environments. The main purpose is to inspect and repair underwater foundation piles such as underwater culverts, pipelines, docks, bridges, and dams. Because the underwater acoustic environment is very complicated when the underwater robot is wo...

AI Technical Summary

Problems solved by technology

Because the underwater acoustic environment is very complicated when the underwater robot is working, most of them use wired methods to communicate with the underwater robot to control the robot’s operation. The communication of the console makes it impossible to return

[0004] The traditional underwater robot receives the sound source signal of the starting point through the built-in guidance sonar receiver for azimuth measurement, and then adjusts the course to return to the starting point. However, due to the complex underwater acoustic environment, the anti-reverberation ability of this azimuth measurement method weak

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