技术领域Technical field
本申请涉及水声信号数据处理技术领域，特别是涉及一种目标特征频点快速回溯分析方法、系统、设备及介质。This application relates to the technical field of underwater acoustic signal data processing, and in particular to a method, system, equipment and medium for rapid traceback analysis of target characteristic frequency points.
背景技术Background technique
随着水声学的快速发展，快速发现和识别水声目标成为水声探测的重要需求。水声信号干扰多的特点限制了目标发现和识别的速度，往往需要综合比对分析多种数据特征后才能判断信号属于目标还是干扰。快速提供判断信号类型的数据特征成为目标发现和识别迫切需要解决的业务痛点。With the rapid development of hydroacoustics, rapid discovery and identification of hydroacoustic targets has become an important requirement for hydroacoustic detection. The characteristics of underwater acoustic signals with lots of interference limits the speed of target discovery and identification. It is often necessary to comprehensively compare and analyze multiple data characteristics to determine whether the signal belongs to the target or interference. Quickly providing data features to determine signal types has become an urgent business pain point for target discovery and identification that needs to be solved.
针对相关技术中，水声目标发现和识别的效率低的问题，目前尚未提出有效的解决方案。Regarding the problem of low efficiency of underwater acoustic target discovery and identification in related technologies, no effective solution has yet been proposed.
发明内容Contents of the invention
基于此，有必要针对上述技术问题，提供一种目标特征频点快速回溯分析方法、系统、设备及介质。Based on this, it is necessary to provide a fast traceback analysis method, system, equipment and medium for target characteristic frequency points in response to the above technical problems.
第一方面，本申请实施例提供了一种目标特征频点快速回溯分析方法，所述方法包括：In the first aspect, embodiments of the present application provide a method for rapid backtracking analysis of target characteristic frequency points. The method includes:
基于湿端采集的水声信号，获得全方位波束形成数据；Based on the hydroacoustic signals collected at the wet end, omnidirectional beamforming data is obtained;
按照预设时间间隔对所述全方位波束形成数据进行频谱提取，得到全方位LOFAR频谱数据；Perform spectrum extraction on the omnidirectional beamforming data according to a preset time interval to obtain omnidirectional LOFAR spectrum data;
基于指定的特征频点，从所述全方位LOFAR频谱数据中查询出与所述特征频点对应的全时间范围和全方位范围的时间方位历程数据，并生成LOFAR窄带方位历程图；Based on the specified characteristic frequency point, query the full time range and omnidirectional range time orientation history data corresponding to the characteristic frequency point from the omnidirectional LOFAR spectrum data, and generate a LOFAR narrowband orientation history map;
将所述LOFAR窄带方位历程图与目标方位历程图进行对比，判断所述特征频点是否属于目标特征频点。Compare the LOFAR narrowband azimuth history map with the target azimuth history map to determine whether the characteristic frequency point belongs to the target characteristic frequency point.
在其中一个实施例中，所述基于湿端采集的水声信号，获得所述水声信号的全方位波束形成数据包括：In one embodiment, obtaining the omnidirectional beamforming data of the hydroacoustic signal based on the hydroacoustic signal collected at the wet end includes:
按时间顺序接收湿端发布的水声信号；其中，所述水声信号包括阵元域数据和多个传感器的阵深阵向数据；Receive hydroacoustic signals released by the wet end in chronological order; wherein the hydroacoustic signals include array element domain data and array depth and array direction data of multiple sensors;
按时间顺序累计所述阵元域数据和所述阵深阵向数据，每秒对最新累计的所述阵元域数据和所述阵深阵向数据进行全方位波束形成，获得所述水声信号的全方位波束形成数据。The array element domain data and the array depth and array direction data are accumulated in chronological order, and the latest accumulated array element domain data and the array depth and array direction data are performed in all directions every second to obtain the underwater acoustic Omni-directional beamforming data of the signal.
在其中一个实施例中，所述将所述LOFAR窄带方位历程图与目标方位历程图进行对比，判断所述特征频点是否属于目标的特征频点包括：In one embodiment, comparing the LOFAR narrowband azimuth history map with the target azimuth history map to determine whether the characteristic frequency point belongs to the target's characteristic frequency point includes:
将所述LOFAR窄带方位历程图与目标方位历程图进行对比，基于一致性判断所述特征频点是否属于目标的特征频点。The LOFAR narrowband azimuth history map is compared with the target azimuth history map, and based on consistency, it is judged whether the characteristic frequency point belongs to the target's characteristic frequency point.
在其中一个实施例中，所述将所述LOFAR窄带方位历程图与目标方位历程图进行对比，基于一致性判断所述特征频点是否属于目标的特征频点包括：In one embodiment, comparing the LOFAR narrowband azimuth history map with the target azimuth history map, and determining whether the characteristic frequency point belongs to the target's characteristic frequency point based on consistency includes:
基于所述LOFAR窄带方位历程图与目标方位历程图，获得相似度；Based on the LOFAR narrowband azimuth history map and the target azimuth history map, the similarity is obtained;
若相似度大于预设值，则判断所述特征频点属于目标的特征频点；If the similarity is greater than the preset value, it is determined that the characteristic frequency point belongs to the characteristic frequency point of the target;
若相似度小于预设值，则判断所述特征频点不属于目标的特征频点。If the similarity is less than the preset value, it is determined that the characteristic frequency point does not belong to the characteristic frequency point of the target.
在其中一个实施例中，所述按照预设时间间隔对所述全方位波束形成数据进行提取，得到多个全方位LOFAR频谱数据还包括：In one embodiment, extracting the omnidirectional beamforming data according to a preset time interval to obtain multiple omnidirectional LOFAR spectrum data also includes:
每次以所述预设时间间隔的第一秒波束形成数据的时间戳作为所述LOFAR频谱的数据时间戳。Each time, the timestamp of the first second of beamforming data in the preset time interval is used as the data timestamp of the LOFAR spectrum.
在其中一个实施例中，所述方法还包括：In one embodiment, the method further includes:
按照时序将各所述全方位LOFAR频谱数据以及对应的数据时间戳存储在存储器中。Each of the omni-directional LOFAR spectrum data and the corresponding data timestamp are stored in the memory according to time sequence.
在其中一个实施例中，所述基于湿端采集的水声信号，获得全方位波束形成数据还包括：In one embodiment, obtaining omnidirectional beamforming data based on the hydroacoustic signals collected at the wet end further includes:
获取湿端采集的水声信号，对所述水声信号进行降噪处理。Obtain the hydroacoustic signal collected by the wet end, and perform noise reduction processing on the hydroacoustic signal.
第二方面，本申请实施例还提供了一种目标特征频点快速回溯分析系统，所述系统包括：In the second aspect, embodiments of the present application also provide a target characteristic frequency point fast traceback analysis system, which includes:
获得模块，用于基于湿端采集的水声信号，获得全方位波束形成数据；The acquisition module is used to obtain omnidirectional beamforming data based on the hydroacoustic signals collected at the wet end;
提取模块，用于按照预设时间间隔对所述全方位波束形成数据进行提取，得到全方位LOFAR频谱数据；An extraction module, used to extract the omnidirectional beamforming data according to a preset time interval to obtain omnidirectional LOFAR spectrum data;
查询模块，用于基于指定特征频点，从所述全方位LOFAR频谱数据中查询出与所述特征频点对应的全时间范围和全方位范围的时间方位历程数据，并生成LOFAR窄带方位历程图；A query module, configured to query the full-time range and full-range time orientation history data corresponding to the feature frequency point from the omni-directional LOFAR spectrum data based on the specified characteristic frequency point, and generate a LOFAR narrow-band azimuth history map ;
对比模块，用于将所述LOFAR窄带方位历程图与目标方位历程图进行对比，判断所述特征频点是否属于目标的特征频点。A comparison module is used to compare the LOFAR narrowband azimuth history map with the target azimuth history map to determine whether the characteristic frequency point belongs to the target's characteristic frequency point.
第三方面，本申请实施例还提供了一种计算机设备，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行如上述第一方面所述的方法。In a third aspect, embodiments of the present application further provide a computer device, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to perform the above-mentioned first aspect. the method described.
第四方面，本申请实施例还提供了一种存储介质，所述存储介质中存储有计算机程序，其中，所述计算机程序被处理器执行时实现如上述第一方面所述的方法。In a fourth aspect, embodiments of the present application further provide a storage medium in which a computer program is stored, wherein when the computer program is executed by a processor, the method as described in the first aspect is implemented.
上述目标特征频点快速回溯分析方法、系统、设备及介质，通过基于湿端采集的水声信号，获得全方位波束形成数据；按照预设时间间隔对所述全方位波束形成数据进行频谱提取，得到全方位LOFAR频谱数据；基于指定的特征频点，从所述全方位LOFAR频谱数据中查询出与所述特征频点对应的全时间范围和全方位范围的时间方位历程数据，并生成LOFAR窄带方位历程图；将所述LOFAR窄带方位历程图与目标方位历程图进行对比，判断所述特征频点是否属于目标特征频点。解决了水声目标发现和识别的效率低的问题，提高了水声目标发现和识别的效率。The above-mentioned target characteristic frequency point fast traceback analysis method, system, equipment and medium obtain all-round beamforming data through hydroacoustic signals collected based on the wet end; spectrum extraction is performed on the all-round beamforming data according to the preset time interval. Obtain all-round LOFAR spectrum data; based on the specified characteristic frequency point, query the full-time range and all-dimensional range time and orientation history data corresponding to the characteristic frequency point from the all-round LOFAR spectrum data, and generate LOFAR narrowband Azimuth history map: Compare the LOFAR narrowband azimuth history map with the target azimuth history map to determine whether the characteristic frequency point belongs to the target characteristic frequency point. It solves the problem of low efficiency of underwater acoustic target discovery and identification, and improves the efficiency of underwater acoustic target discovery and identification.
本申请的一个或多个实施例的细节在以下附图和描述中提出，以使本申请的其他特征、目的和优点更加简明易懂。The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more concise and understandable.
附图说明Description of drawings
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings described here are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the attached picture:
图1是根据本申请实施例的目标特征频点快速回溯分析方法的终端的硬件结构框图；Figure 1 is a hardware structure block diagram of a terminal according to the target characteristic frequency point fast traceback analysis method according to an embodiment of the present application;
图2是根据本申请实施例的目标特征频点快速回溯分析方法的流程示意图；Figure 2 is a schematic flow chart of a fast traceback analysis method for target feature frequency points according to an embodiment of the present application;
图3是根据本申请优选实施例的目标特征频点快速回溯分析方法的流程示意图；Figure 3 is a schematic flow chart of a fast traceback analysis method for target characteristic frequency points according to a preferred embodiment of the present application;
图4是根据本申请实施例的目标特征频点快速回溯分析系统的结构框图；Figure 4 is a structural block diagram of a target feature frequency point fast traceback analysis system according to an embodiment of the present application;
图5是根据本申请实施例的计算机设备结构示意图。Figure 5 is a schematic structural diagram of a computer device according to an embodiment of the present application.
具体实施方式Detailed ways
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行描述和说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。基于本申请提供的实施例，本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application. Based on the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without any creative work shall fall within the scope of protection of this application.
显而易见地，下面描述中的附图仅仅是本申请的一些示例或实施例，对于本领域的普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图将本申请应用于其他类似情景。此外，还可以理解的是，虽然这种开发过程中所作出的努力可能是复杂并且冗长的，然而对于与本申请公开的内容相关的本领域的普通技术人员而言，在本申请揭露的技术内容的基础上进行的一些设计，制造或者生产等变更只是常规的技术手段，不应当理解为本申请公开的内容不充分。Obviously, the drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, without exerting creative efforts, the present application can also be applied according to these drawings. Other similar scenarios. In addition, it will also be appreciated that, although such development efforts may be complex and lengthy, the technology disclosed in this application will be readily apparent to those of ordinary skill in the art relevant to the disclosure of this application. Some design, manufacturing or production changes based on the content are only conventional technical means and should not be understood as insufficient content disclosed in this application.
在本申请中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域普通技术人员显式地和隐式地理解的是，本申请所描述的实施例在不冲突的情况下，可以与其它实施例相结合。Reference in this application to "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.
除非另作定义，本申请所涉及的技术术语或者科学术语应当为本申请所属技术领域内具有一般技能的人士所理解的通常意义。本申请所涉及的“一”、“一个”、“一种”、“该”等类似词语并不表示数量限制，可表示单数或复数。本申请所涉及的术语“包括”、“包含”、“具有”以及它们任何变形，意图在于覆盖不排他的包含；例如包含了一系列步骤或模块（单元）的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可以还包括没有列出的步骤或单元，或可以还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。本申请所涉及的“连接”、“相连”、“耦接”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电气的连接，不管是直接的还是间接的。本申请所涉及的“多个”是指两个或两个以上。“和/或”描述关联对象的关联关系，表示可以存在三种关系，例如，“A和/或B”可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。本申请所涉及的术语“第一”、“第二”、“第三”等仅仅是区别类似的对象，不代表针对对象的特定排序。Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the usual meanings understood by those with ordinary skills in the technical field to which this application belongs. "A", "an", "a", "the" and other similar words used in this application do not indicate a quantitative limit and may indicate singular or plural numbers. The terms "include", "comprises", "having" and any variations thereof involved in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or product that includes a series of steps or modules (units). The equipment is not limited to the listed steps or units, but may also include steps or units that are not listed, or may further include other steps or units inherent to these processes, methods, products or equipment. Words such as "connected", "connected", "coupled" and the like mentioned in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" mentioned in this application refers to two or more than two. "And/or" describes the relationship between related objects, indicating that three relationships can exist. For example, "A and/or B" can mean: A alone exists, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the related objects are in an "or" relationship. The terms “first”, “second”, “third”, etc. used in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.
在本实施例中提供的方法实施例可以在终端、计算机或者类似的运算装置中执行。比如在终端上运行，图1是本实施例的目标特征频点快速回溯分析方法的终端的硬件结构框图。如图1所示，终端可以包括一个或多个(图1中仅示出一个)处理器102和用于存储数据的存储器104，其中，处理器102可以包括但不限于微处理器MCU或可编程逻辑器件FPGA等的处理装置。上述终端还可以包括用于通信功能的传输设备106以及输入输出设备108。本领域普通技术人员可以理解，图1所示的结构仅为示意，其并不对上述终端的结构造成限制。例如，终端还可包括比图1中所示更多或者更少的组件，或者具有与图1所示出的不同配置。The method embodiments provided in this embodiment can be executed in a terminal, computer or similar computing device. For example, when running on a terminal, Figure 1 is a hardware structure block diagram of a terminal for the fast traceback analysis method of target characteristic frequency points in this embodiment. As shown in Figure 1, the terminal may include one or more (only one is shown in Figure 1) processors 102 and a memory 104 for storing data, wherein the processor 102 may include but is not limited to a microprocessor MCU or a memory 104 for storing data. Processing device for programming logic devices such as FPGA. The above-mentioned terminal may also include a transmission device 106 and an input and output device 108 for communication functions. Persons of ordinary skill in the art can understand that the structure shown in Figure 1 is only illustrative, and it does not limit the structure of the above-mentioned terminal. For example, the terminal may also include more or fewer components than shown in FIG. 1 , or have a different configuration than that shown in FIG. 1 .
存储器104可用于存储计算机程序，例如，应用软件的软件程序以及模块，如在本实施例中的目标特征频点快速回溯分析方法对应的计算机程序，处理器102通过运行存储在存储器104内的计算机程序，从而执行各种功能应用以及数据处理，即实现上述的方法。存储器104可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器104可进一步包括相对于处理器102远程设置的存储器，这些远程存储器可以通过网络连接至终端。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the target characteristic frequency point fast retrospective analysis method in this embodiment. The processor 102 runs the computer program stored in the memory 104 program to perform various functional applications and data processing, that is, to implement the above method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely relative to the processor 102, and these remote memories may be connected to the terminal through a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.
传输设备106用于经由一个网络接收或者发送数据。上述的网络包括终端的通信供应商提供的无线网络。在一个实例中，传输设备106包括一个网络适配器(NetworkInterface Controller，简称为NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输设备106可以为射频(Radio Frequency，简称为RF)模块，其用于通过无线方式与互联网进行通讯。Transmission device 106 is used to receive or send data via a network. The above-mentioned network includes the wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet wirelessly.
本申请实施例提供了一种目标特征频点快速回溯分析方法，如图2所示，所述方法包括以下步骤：The embodiment of the present application provides a method for rapid backtracking analysis of target characteristic frequency points, as shown in Figure 2. The method includes the following steps:
S201，基于湿端采集的水声信号，获得全方位波束形成数据。S201, based on the hydroacoustic signal collected at the wet end, obtain omnidirectional beamforming data.
具体的，本申请按时间顺序接收湿端发布的水声信号，并基于湿端采集的水声信号获得全方位波束形成数据。Specifically, this application receives the hydroacoustic signals released by the wet end in chronological order, and obtains omnidirectional beamforming data based on the hydroacoustic signals collected by the wet end.
S202，按照预设时间间隔对所述全方位波束形成数据进行频谱提取，得到全方位LOFAR频谱数据。S202: Perform spectrum extraction on the omnidirectional beamforming data according to a preset time interval to obtain omnidirectional LOFAR spectrum data.
具体的，本申请按照预设时间间隔对所述全方位波束形成数据进行频谱提取，得到全方位LOFAR频谱数据。在一示例实施例中，按照每六秒对最新累计的波束形成数据进行全方位LOFAR频谱提取，主要是通过快速傅里叶变换实现全方位LOFAR频谱提取。Specifically, this application performs spectrum extraction on the omnidirectional beamforming data according to a preset time interval to obtain omnidirectional LOFAR spectrum data. In an example embodiment, all-round LOFAR spectrum extraction is performed on the latest accumulated beamforming data every six seconds, mainly through fast Fourier transform to achieve all-round LOFAR spectrum extraction.
S203，基于指定的特征频点，从所述全方位LOFAR频谱数据中查询出与所述特征频点对应的全时间范围和全方位范围的时间方位历程数据，并生成LOFAR窄带方位历程图。S203. Based on the specified characteristic frequency point, query the full time range and omnidirectional range time orientation history data corresponding to the characteristic frequency point from the omnidirectional LOFAR spectrum data, and generate a LOFAR narrowband orientation history map.
具体的，本申请按时序将全方位LOFAR频谱数据以及对应的数据时间戳存储在存储器中，当使用者指定目标特征频点时，从所存储的全方位LOFAR频谱中查询出该频点全时间范围和全方位范围的时间方位历程数据，建立时间-方位角空间坐标系，基于所述时间方位历程数据生成LOFAR窄带方位历程图。Specifically, this application stores the omni-directional LOFAR spectrum data and the corresponding data timestamps in the memory in time sequence. When the user specifies the target characteristic frequency point, the full-time frequency point of the frequency point is queried from the stored omni-directional LOFAR spectrum. The time-azimuth history data of range and omni-directional range is used to establish a time-azimuth angle spatial coordinate system, and a LOFAR narrow-band azimuth history map is generated based on the time-azimuth history data.
S204，将所述LOFAR窄带方位历程图与目标方位历程图进行对比，判断所述特征频点是否属于目标特征频点。S204: Compare the LOFAR narrowband azimuth history map with the target azimuth history map to determine whether the characteristic frequency point belongs to the target characteristic frequency point.
本申请通过从所存储的全方位LOFAR频谱中查询指定频点得到时间方位轨迹数据，对比该时间方位轨迹和目标的时间方位轨迹，筛选该频点是否是目标的特征，该方法可以快速回溯出指定频点的时间方位轨迹，查询结果不受时间范围限制，可以用于快速筛选该频点是否属于目标的频点，提升水声目标发现和识别的效率。This application obtains the time orientation trajectory data by querying the specified frequency point from the stored omni-directional LOFAR spectrum, compares the time orientation trajectory with the time orientation trajectory of the target, and screens whether the frequency point is a characteristic of the target. This method can quickly trace back the results. Specify the time and orientation trajectory of the frequency point, and the query results are not limited by the time range. It can be used to quickly screen whether the frequency point belongs to the frequency point of the target, improving the efficiency of underwater acoustic target discovery and identification.
在其中一个实施例中，所述基于湿端采集的水声信号，获得所述水声信号的全方位波束形成数据包括以下内容：In one embodiment, obtaining the omnidirectional beamforming data of the hydroacoustic signal based on the hydroacoustic signal collected at the wet end includes the following:
按时间顺序接收湿端发布的水声信号；其中，所述水声信号包括阵元域数据和多个传感器的阵深阵向数据；其中，所述传感器为水下声学传感器，所述阵深阵向数据为水下声学传感器的在水下环境的深度和方向。本实施例按时间顺序累计所述阵元域数据和所述阵深阵向数据，每秒对最新累计的所述阵元域数据和所述阵深阵向数据进行全方位波束形成，获得所述水声信号的全方位波束形成数据。Receive hydroacoustic signals released by the wet end in chronological order; wherein the hydroacoustic signals include array element domain data and array depth and array direction data of multiple sensors; wherein the sensors are underwater acoustic sensors, and the array depth Array data are the depth and direction of the underwater acoustic sensor in the underwater environment. This embodiment accumulates the array element domain data and the array depth and array direction data in chronological order, and performs omnidirectional beam forming on the latest accumulated array element domain data and array depth and array direction data every second to obtain all the array element domain data and array depth and array direction data. Describes omnidirectional beamforming data of hydroacoustic signals.
在其中一个实施例中，所述将所述LOFAR窄带方位历程图与目标方位历程图进行对比，判断所述特征频点是否属于目标的特征频点包括：将所述LOFAR窄带方位历程图与目标方位历程图进行对比，基于一致性判断所述特征频点是否属于目标的特征频点。具体的，如果一致性较好，则可以快速判断该频点属于目标的特征，如果一致性较差，则可以快速判断该频点不属于目标的特征。In one embodiment, comparing the LOFAR narrowband azimuth history map with the target azimuth history map to determine whether the characteristic frequency point belongs to the target's characteristic frequency point includes: comparing the LOFAR narrowband azimuth history map with the target azimuth history map. The orientation history map is compared, and based on consistency, it is judged whether the characteristic frequency point belongs to the characteristic frequency point of the target. Specifically, if the consistency is good, it can be quickly judged that the frequency point belongs to the characteristics of the target. If the consistency is poor, it can be quickly judged that the frequency point does not belong to the characteristics of the target.
在其中一个实施例中，所述将所述LOFAR窄带方位历程图与目标方位历程图进行对比，基于一致性判断所述特征频点是否属于目标的特征频点包括以下内容：基于所述LOFAR窄带方位历程图与目标方位历程图，获得相似度；若相似度大于预设值，则判断所述特征频点属于目标的特征频点；若相似度小于预设值，则判断所述特征频点不属于目标的特征频点。In one embodiment, comparing the LOFAR narrowband azimuth history map with the target azimuth history map, and determining whether the characteristic frequency point belongs to the target's characteristic frequency point based on consistency includes the following content: based on the LOFAR narrowband Obtain the similarity between the orientation history map and the target orientation history map; if the similarity is greater than the preset value, it is judged that the characteristic frequency point belongs to the characteristic frequency point of the target; if the similarity is less than the preset value, it is judged that the characteristic frequency point belongs to the target. Feature frequency points that do not belong to the target.
具体的，本实施例中可以采用图像相似度算法，获得所述LOFAR窄带方位历程图与目标方位历程图之间的相似度，并预先设置一个预设值，若相似度大于预设值，则判断所述特征频点属于目标的特征频点；若相似度小于预设值，则判断所述特征频点不属于目标的特征频点，实现了一致性的快速判断。Specifically, in this embodiment, an image similarity algorithm can be used to obtain the similarity between the LOFAR narrowband azimuth history map and the target azimuth history map, and a preset value is set in advance. If the similarity is greater than the preset value, then It is judged that the characteristic frequency point belongs to the characteristic frequency point of the target; if the similarity is less than the preset value, it is judged that the characteristic frequency point does not belong to the characteristic frequency point of the target, achieving rapid judgment of consistency.
在其中一个实施例中，所述按照预设时间间隔对所述全方位波束形成数据进行提取，得到多个全方位LOFAR频谱数据还包括：每次以所述预设时间间隔的第一秒波束形成数据的时间戳作为所述LOFAR频谱的数据时间戳，即每次频谱提取的第一秒波束形成数据的数据时间戳作为LOFAR频谱的数据时间戳，以便使用者指定目标特征频点，从所存储的全方位LOFAR频谱中进行全时间范围和全方位范围的时间方位历程数据查询。In one embodiment, extracting the omnidirectional beamforming data according to a preset time interval to obtain multiple omnidirectional LOFAR spectrum data also includes: each time the first second beam of the preset time interval is The timestamp of the formed data is used as the data timestamp of the LOFAR spectrum, that is, the data timestamp of the first second of beamforming data in each spectrum extraction is used as the data timestamp of the LOFAR spectrum, so that the user can specify the target characteristic frequency point, from which Query the full time range and full range time orientation history data in the stored all-round LOFAR spectrum.
在其中一个实施例中，所述方法还包括按照时序将各所述全方位LOFAR频谱数据以及对应的数据时间戳存储在存储器中。In one embodiment, the method further includes storing each of the omni-directional LOFAR spectrum data and corresponding data timestamps in a memory in a time sequence.
本实施例按照时序将所有的全方位LOFAR频谱数据以及对应的数据时间戳存储在存储器中，当使用者指定目标特征频点，可以从存储器中所存储的全方位LOFAR频谱中查询出该频点全时间范围和全方位范围的时间方位历程数据，生成LOFAR窄带方位历程图，实现了目标特征频点的快速查询。This embodiment stores all the omni-directional LOFAR spectrum data and the corresponding data timestamps in the memory in time sequence. When the user specifies the target characteristic frequency point, the frequency point can be queried from the omni-directional LOFAR spectrum stored in the memory. Time and orientation history data in the full time range and all-round range are used to generate LOFAR narrowband azimuth history maps, enabling rapid query of target characteristic frequency points.
在其中一个实施例中，所述基于湿端采集的水声信号，获得全方位波束形成数据还包括：获取湿端采集的水声信号，对所述水声信号进行降噪处理。具体的，在水下环境中，水声目标信号常常被强干扰或背景噪声所掩盖，因此需要对湿端采集的水声信号进行降噪处理，以保证采集的水声信号的精度。In one embodiment, obtaining omnidirectional beamforming data based on the hydroacoustic signal collected by the wet end further includes: obtaining the hydroacoustic signal collected by the wet end, and performing noise reduction processing on the hydroacoustic signal. Specifically, in underwater environments, hydroacoustic target signals are often obscured by strong interference or background noise. Therefore, it is necessary to perform noise reduction processing on the hydroacoustic signals collected at the wet end to ensure the accuracy of the collected hydroacoustic signals.
下面通过优选实施例对本实施例进行描述和说明。This embodiment is described and illustrated below through preferred embodiments.
图3是本实施例的目标特征频点快速回溯分析方法的优选流程图，如图3所示，该目标特征频点快速回溯分析方法包括如下步骤：Figure 3 is a preferred flow chart of the target characteristic frequency point fast traceback analysis method of this embodiment. As shown in Figure 3, the target characteristic frequency point fast traceback analysis method includes the following steps:
步骤一：按时间顺序接收湿端发布的水声信号，包括阵元域数据和传感器的阵深阵向数据；Step 1: Receive hydroacoustic signals released by the wet end in chronological order, including array element domain data and sensor array depth and array direction data;
步骤二：按时序累计阵元域数据和阵深阵向数据，每秒对最新累计的阵元域数据和阵深阵向数据进行全方位波束形成，并生成波束形成数据时间戳；Step 2: Accumulate array element domain data and array depth and array direction data in time sequence, perform omni-directional beamforming on the latest accumulated array element domain data and array depth and array direction data every second, and generate beamforming data timestamps;
步骤三：按时序累计波束形成数据，每六秒对最新累计的波束形成数据进行全方位LOFAR频谱提取，以每次频谱提取的第一秒波束形成数据的数据时间戳作为LOFAR频谱的数据时间戳；Step 3: Accumulate the beamforming data in time sequence, perform a comprehensive LOFAR spectrum extraction on the latest accumulated beamforming data every six seconds, and use the data timestamp of the first second of beamforming data in each spectrum extraction as the data timestamp of the LOFAR spectrum ;
步骤四：按时序将全方位LOFAR频谱数据和数据时间戳存储在存储器中；Step 4: Store the full range of LOFAR spectrum data and data timestamps in the memory in time sequence;
步骤五：使用者指定目标特征频点，从所存储的全方位LOFAR频谱中查询出该频点全时间范围和全方位范围的时间方位历程数据，生成LOFAR窄带方位历程图；Step 5: The user specifies the target characteristic frequency point, queries the full time range and full range time azimuth history data of the frequency point from the stored omnidirectional LOFAR spectrum, and generates a LOFAR narrowband azimuth history map;
步骤六：使用者比对查回的LOFAR窄带方位历程图和其他类型的时间方位轨迹形成的方位历程图，如果一致性较好，则可以快速判断该频点属于目标的特征，如果一致性较差，则可以快速判断该频点不属于目标的特征。Step 6: The user compares the retrieved LOFAR narrowband azimuth history map with the azimuth history map formed by other types of time azimuth trajectories. If the consistency is good, the user can quickly determine that the frequency point belongs to the characteristics of the target. If the consistency is good, If it is poor, you can quickly determine that the frequency point does not belong to the characteristics of the target.
本实施例通过从所存储的全方位LOFAR频谱中查询指定频点得到时间方位轨迹数据，对比该时间方位轨迹和目标的时间方位轨迹，筛选该频点是否是目标的特征，该方法可以快速回溯出指定频点的时间方位轨迹，查询结果不受时间范围限制，可以用于快速筛选该频点是否属于目标的频点，提升水声目标发现和识别的效率。In this embodiment, the time orientation trajectory data is obtained by querying the specified frequency point from the stored omnidirectional LOFAR spectrum, comparing the time orientation trajectory with the time orientation trajectory of the target, and screening whether the frequency point is a characteristic of the target. This method can quickly trace back The time and orientation trajectory of the specified frequency point is obtained. The query results are not limited by the time range. It can be used to quickly screen whether the frequency point belongs to the target frequency point and improve the efficiency of underwater acoustic target discovery and identification.
第二方面，本申请实施例还提供了一种目标特征频点快速回溯分析系统，如图4所示，所述系统包括获得模块10、提取模块20、查询模块30、对比模块40。In the second aspect, embodiments of the present application also provide a target feature frequency point fast traceback analysis system. As shown in Figure 4, the system includes an acquisition module 10, an extraction module 20, a query module 30, and a comparison module 40.
获得模块10用于基于湿端采集的水声信号，获得全方位波束形成数据；The acquisition module 10 is used to obtain omnidirectional beamforming data based on the hydroacoustic signals collected at the wet end;
提取模块20用于按照预设时间间隔对所述全方位波束形成数据进行提取，得到全方位LOFAR频谱数据；The extraction module 20 is used to extract the omnidirectional beamforming data according to a preset time interval to obtain omnidirectional LOFAR spectrum data;
查询模块30用于基于指定特征频点，从所述全方位LOFAR频谱数据中查询出与所述特征频点对应的全时间范围和全方位范围的时间方位历程数据，并生成LOFAR窄带方位历程图；The query module 30 is used to query the full-time range and omni-directional range of time and orientation history data corresponding to the characteristic frequency point from the omni-directional LOFAR spectrum data based on the specified characteristic frequency point, and generate a LOFAR narrow-band azimuth history map. ;
对比模块40用于将所述LOFAR窄带方位历程图与目标方位历程图进行对比，判断所述特征频点是否属于目标的特征频点。The comparison module 40 is used to compare the LOFAR narrowband azimuth history map with the target azimuth history map to determine whether the characteristic frequency point belongs to the target's characteristic frequency point.
在其中一个实施例中，获得模块10还用于按时间顺序接收湿端发布的水声信号；其中，所述水声信号包括阵元域数据和多个传感器的阵深阵向数据；按时间顺序累计所述阵元域数据和所述阵深阵向数据，每秒对最新累计的所述阵元域数据和所述阵深阵向数据进行全方位波束形成，获得所述水声信号的全方位波束形成数据。In one embodiment, the acquisition module 10 is also used to receive hydroacoustic signals released by the wet end in time sequence; wherein the hydroacoustic signals include array element domain data and array depth and array direction data of multiple sensors; in time order The array element domain data and the array depth and array direction data are sequentially accumulated, and the latest accumulated array element domain data and the array depth and array direction data are subjected to omnidirectional beam forming every second to obtain the hydroacoustic signal. Omni-directional beamforming data.
在其中一个实施例中，对比模块40还用于将所述LOFAR窄带方位历程图与目标方位历程图进行对比，基于一致性判断所述特征频点是否属于目标的特征频点。In one embodiment, the comparison module 40 is also used to compare the LOFAR narrowband azimuth history map with the target azimuth history map, and determine whether the characteristic frequency point belongs to the target's characteristic frequency point based on consistency.
在其中一个实施例中，对比模块40还用于基于所述LOFAR窄带方位历程图与目标方位历程图，获得相似度；若相似度大于预设值，则判断所述特征频点属于目标的特征频点；若相似度小于预设值，则判断所述特征频点不属于目标的特征频点。In one embodiment, the comparison module 40 is also used to obtain a similarity based on the LOFAR narrowband azimuth history map and the target azimuth history map; if the similarity is greater than a preset value, determine that the characteristic frequency point belongs to the characteristics of the target. frequency point; if the similarity is less than the preset value, it is determined that the characteristic frequency point does not belong to the characteristic frequency point of the target.
在其中一个实施例中，提取模块20还用于每次以所述预设时间间隔的第一秒波束形成数据的时间戳作为所述LOFAR频谱的数据时间戳。In one embodiment, the extraction module 20 is further configured to use the timestamp of the first second of beamforming data of the preset time interval as the data timestamp of the LOFAR spectrum each time.
在其中一个实施例中，所述系统还包括存储模块，所述存储模块用于按照时序将各所述全方位LOFAR频谱数据以及对应的数据时间戳存储在存储器中。In one embodiment, the system further includes a storage module configured to store each of the omni-directional LOFAR spectrum data and corresponding data timestamps in the memory in time sequence.
在其中一个实施例中，获得模块10还用于获取湿端采集的水声信号，对所述水声信号进行降噪处理。In one embodiment, the acquisition module 10 is also used to acquire the hydroacoustic signal collected by the wet end, and perform noise reduction processing on the hydroacoustic signal.
需要说明的是，上述各个模块可以是功能模块也可以是程序模块，既可以通过软件来实现，也可以通过硬件来实现。对于通过硬件来实现的模块而言，上述各个模块可以位于同一处理器中；或者上述各个模块还可以按照任意组合的形式分别位于不同的处理器中。It should be noted that each of the above modules can be a functional module or a program module, and can be implemented by software or hardware. For modules implemented by hardware, each of the above-mentioned modules can be located in the same processor; or each of the above-mentioned modules can also be located in different processors in any combination.
在一个实施例中，提供了一种计算机设备，该计算机设备可以是终端，其内部结构图可以如图5所示。该计算机设备包括通过系统总线连接的处理器、存储器、通信接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的通信接口用于与外部的终端进行有线或无线方式的通信，无线方式可通过WIFI、移动蜂窝网络、NFC（近场通信）或其他技术实现。该计算机程序被处理器执行时以实现一种目标特征频点快速回溯分析方法。该计算机设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be shown in Figure 5 . The computer device includes a processor, memory, communication interface, display screen and input device connected through a system bus. Wherein, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes non-volatile storage media and internal memory. The non-volatile storage medium stores operating systems and computer programs. This internal memory provides an environment for the execution of operating systems and computer programs in non-volatile storage media. The communication interface of the computer device is used for wired or wireless communication with external terminals. The wireless mode can be implemented through WIFI, mobile cellular network, NFC (Near Field Communication) or other technologies. The computer program is executed by a processor to implement a fast backtracking analysis method of target characteristic frequency points. The display screen of the computer device may be a liquid crystal display or an electronic ink display. The input device of the computer device may be a touch layer covered on the display screen, or may be a button, trackball or touch pad provided on the computer device shell. , it can also be an external keyboard, trackpad or mouse, etc.
本领域技术人员可以理解，图5中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。Those skilled in the art can understand that the structure shown in Figure 5 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. The specific computer equipment can May include more or fewer parts than shown, or combine certain parts, or have a different arrangement of parts.
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现上述任一项消息推送方法或消息转发方法实施例中的步骤。In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in any of the above message pushing method or message forwarding method embodiments are implemented.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器(Read-Only Memory，ROM)、磁带、软盘、闪存或光存储器等。易失性存储器可包括随机存取存储器(RandomAccess Memory，RAM)或外部高速缓冲存储器。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器(Static Random Access Memory，SRAM)或动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage. In the media, when executed, the computer program may include the processes of the above method embodiments. Any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM).
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-described embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, All should be considered to be within the scope of this manual.
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。The above-described embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the protection scope of this patent application should be determined by the appended claims.
| Application Number | Priority Date | Filing Date | Title |
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| CN202410067215.9ACN117595943B (en) | 2024-01-17 | 2024-01-17 | Method, system, equipment and medium for rapid backtracking analysis of target characteristic frequency points |
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| CN202410067215.9ACN117595943B (en) | 2024-01-17 | 2024-01-17 | Method, system, equipment and medium for rapid backtracking analysis of target characteristic frequency points |
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| CN117595943Atrue CN117595943A (en) | 2024-02-23 |
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| CN202410067215.9AActiveCN117595943B (en) | 2024-01-17 | 2024-01-17 | Method, system, equipment and medium for rapid backtracking analysis of target characteristic frequency points |
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