CN112630782B

CN112630782B - Method for realizing deep sea extended tracking by using floating and sinking load device

Info

Publication number: CN112630782B
Application number: CN202011341725.9A
Authority: CN
Inventors: 杨鑫; 郭超群; 白云; 陆路; 王长宏; 姚鸿博
Original assignee: Haiying Enterprise Group Co Ltd
Current assignee: Haiying Enterprise Group Co Ltd
Priority date: 2020-11-25
Filing date: 2020-11-25
Publication date: 2022-04-12
Anticipated expiration: 2040-11-25
Also published as: CN112630782A

Abstract

The invention relates to the technical field of design and manufacture of underwater acoustic equipment, in particular to a method for realizing deep sea expansion tracking by using a floating and sinking load device, which comprises the following steps: s1, constructing a movable underwater detection node; s2, after the target is detected, the hydrophone array is adjusted to be a vertical array, and the target is aimed through the narrow beam; s3, after the target moves out of the observation area, the hydrophone array is adjusted towards the horizontal direction to increase the horizontal space gain, and continuous tracking of the target is realized; the depth and the pointing direction of the hydrophone array are continuously adjusted according to the environmental noise and the distance of the target so as to realize the continuous expansion tracking of the target in the convergence zone; the method has the advantages of having concealment and maneuverability, and making breakthrough progress on detection performance by using deep sea acoustic characteristics. The method has important significance for expanding the information perception range of the underwater target in the future, implementing full coverage on sensitive or disputed areas and establishing the underwater detection, communication, guidance and measurement integrated submarine observation network in China.

Description

Method for realizing deep sea extended tracking by using floating and sinking load device

Technical Field

The invention relates to the technical field of design and manufacture of underwater acoustic equipment, in particular to a method for realizing deep sea extended tracking by using a floating and sinking load device.

Background

The deep-sea vocal tract widely exists in the global deep-sea area, and is greatly concerned due to the very good sound transmission performance. The range from the sea surface to the conjugate depth is called the width of a deep sea sound channel, and according to Snell's law of refraction, a sound ray always bends to the direction of a sound velocity minimum value, when a sound source is positioned at a certain depth in the deep sea sound channel, the sound ray with a small grazing angle is limited to be transmitted in the deep sea sound channel, and does not collide with the sea surface of the sea bottom, so that the transmission loss is less, and the sound signal can be transmitted in a long distance. The sound wave can effectively position and measure the distance of the target by utilizing the good propagation performance of the deep sea sound channel.

China sonar mostly adopts a direct wave detection mode, the mode has strong applicability, but the working distance is short, the sonar is influenced by the environment, particularly under the deep sea environment, sound lines are bent, the sound field is very complex, and sonar signal processing is greatly influenced by multipath propagation and the physical environment. In the last 40 th century, research on deep-sea vocal tract was started, wherein the discovery and development of convergence regions have a great influence on underwater sound detection, and the detection distance is greatly expanded. The application of the deep convergence zone (reversal point convergence zone) provides a theoretical basis for detecting the quiet target of the sea surface at the deep ocean. Especially in the aspects of underwater early warning and the like in a deep sea environment, the research of a target positioning method is very important. The research of the target detection positioning method under the deep sea environment by combining with the typical sound channel has great theoretical and application value.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a method for realizing deep sea extended tracking by using a floating and sinking load device, which has the advantages of combining concealment and maneuverability and making breakthrough progress on detection performance by using deep sea acoustic characteristics. The method has important significance for expanding the information perception range of the underwater target in the future, implementing full coverage on sensitive or disputed areas and establishing the underwater detection, communication, guidance and measurement integrated submarine observation network in China.

The invention is realized by the following technical scheme:

a method for realizing deep sea expansion tracking by using a floating and sinking load device comprises the following steps:

s1, constructing a movable underwater detection node;

the underwater detection node is formed by dragging a low-frequency vector hydrophone array by a deep-sea unmanned vehicle, a buoyancy adjusting device is carried at the upper end of the hydrophone array, and the hydrophone array is enabled to be in a horizontal posture, a vertical posture or any posture between the horizontal posture and the vertical posture;

the buoyancy adjusting device comprises a shell, a hydraulic power unit, an electronic compass, a control panel, oil bags and a fixing frame, wherein the hydraulic power unit is inserted into the bottom of an inner cavity of the shell, one oil bag is installed at the top of the inner cavity of the shell, the other oil bag is arranged below the shell, the hydraulic power unit is respectively connected with the oil bags on the upper side and the lower side through oil passages, the electronic compass and the control panel are installed inside the shell, the electronic compass can detect the posture of the buoyancy adjusting device in real time, and the control panel is used for controlling the hydraulic power unit; the bottom of the oil bag at the lower side is provided with the fixing frame, and the fixing frame is used for being connected with the hydrophone array;

s2, after the target is detected, the hydrophone array is adjusted to be a vertical array, and the target is aimed through a narrow beam;

s3, after the target moves out of the observation area, the hydrophone array is adjusted towards the horizontal direction to increase the horizontal space gain, and continuous tracking of the target is realized;

the depth and pointing direction of the hydrophone array will be continuously adjusted according to the environmental noise and the distance of the target to achieve continuous extended tracking of the target within the convergence zone.

Preferably, the hydrophone array constitutes a sonar which divides a depth range from the sea surface to the conjugate depth into four depth sections in a sound field mode at different depths in the deep sea:

near the sea surface: the depth is less than or equal to 500 m;

range of vocal tract axis: 500-3500 m;

(iii) around the conjugate depth: depth 3500-;

fourthly, conjugate depth to seabed: 4117m-5000 m;

sound sources are positioned in depth intervals (i) and (iii) to form a convergence zone, which is defined as a CZ mode;

defining the sound source as an SOFAR mode when the sound source is positioned in the depth interval II;

and the sound source is positioned in the depth interval (r) to form a reliable sound path, which is defined as an RAP mode.

Preferably, to initiative the sonar, when transmitting transducer transmission signal and shining the sea surface target, initiative sonar is equivalent to the transmitting terminal, and the target is the receiving terminal:

the sonar is in a depth interval (a) sound field is in a CZ1 mode;

the sonar is in a SOFAR mode in a depth interval;

the sonar is in a depth interval, and the sound field is in a CZ2 mode;

the sound field of the sonar in the depth interval (iv) is an RAP mode;

when a target reflects a sound source signal, the active sonar is equivalent to a receiving end, the target is an emitting end, but according to the sound field reciprocity principle, the positions of the target and the sonar are interchanged at the moment, the situation is the same as that when the active sonar irradiates the target, and the sound field mode is not changed;

the sound field mode of passive sonar sound source and receiving terminal is the same with initiative sonar, and the type of sound field mode is only relevant with the initiative/passive sonar deployment degree of depth when the target is at the sea.

Preferably, when the sea surface target is in the range of 35-40km, the target can be detected based on the CZ mode and the RAP mode.

Preferably, the detectable range of the active detection method based on RAP can be determined by predicting the echo margin.

Preferably, the depth adjustment of the RAP-based mode enables extension of the sounding distance.

Preferably, the depth adjustment based on the CZ mode and the SOFAR mode realizes the extension of the detection distance.

Preferably, the matrix attitude adjustment based on the CZ mode and the SOFAR mode realizes the extension of the detection distance.

The invention has the beneficial effects that:

the invention has the advantages of concealment and maneuverability, and makes breakthrough progress on detection performance by using deep sea acoustic characteristics. The method has important significance for expanding the information perception range of the underwater target in the future, implementing full coverage on sensitive or disputed areas and establishing the underwater detection, communication, guidance and measurement integrated submarine observation network in China.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an underwater detection node according to the present invention;

FIG. 2 is a schematic view of the construction of the buoyancy regulating device of the present invention;

FIG. 3 is a diagram of a deep sea environment model for simulation in the present invention;

FIG. 4 is an eigen-acoustic chart of the present invention in different modes;

FIG. 5 is a flow chart of active sonar detection information in the present invention;

FIG. 6 is a schematic diagram of the meshing in the present invention;

FIG. 7 is a model of performance analysis and evaluation in accordance with the present invention;

FIG. 8 is a depth-to-angle energy profile at different distances in accordance with the present invention;

FIG. 9 is a graph showing the spatial distribution characteristics of the sound field (propagation loss) at a target depth of 100m in the present invention;

FIG. 10 is a depth-to-angle energy profile at different distances in accordance with the present invention;

FIG. 11 is a schematic view of the CZ region array arrangement of the present invention;

FIG. 12 is a schematic diagram of different matrix poses in shadow areas in accordance with the present invention;

FIG. 13 is a schematic diagram of the tilted array of the present invention receiving incoming waves in a certain direction;

FIG. 14 is a depth-angle of arrival energy profile of a 32-element array at 58km in accordance with the present invention;

FIG. 15 is a comparison of output power of matrices at different attitudes 58km from the target in accordance with the present invention;

FIG. 16 is a depth-to-angle energy distribution plot for a 32-element array at 50km in the present invention;

FIG. 17 is a comparison of output power of matrices in different attitudes 50km from the target in accordance with the present invention.

In the figure: 1-hydrophone array, 2-buoyancy adjusting device, 201-shell, 202-hydraulic power unit, 203-electronic compass, 204-control board, 205-oil bag and 206-fixing frame.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

referring to FIGS. 1-17: the invention specifically discloses a method for realizing deep sea extended tracking by using a floating and sinking load device, which comprises the following steps:

s1, constructing a movable underwater detection node;

with particular reference to FIG. 1: the underwater detection node is formed by dragging a low-frequency vector hydrophone array 1 by a deep-sea unmanned vehicle, a buoyancy adjusting device 2 is carried at the upper end of the hydrophone array 1, and the hydrophone array 1 is enabled to be in a horizontal posture, a vertical posture or any posture between the horizontal posture and the vertical posture;

with particular reference to FIG. 2: the buoyancy adjusting device 2 comprises a shell 201, a hydraulic power unit 202, an electronic compass 203, a control panel 204, an oil bag 205 and a fixing frame 206, the hydraulic power unit 202 is inserted into the bottom of an inner cavity of the shell 201, the top of the inner cavity is provided with the oil bag 205, the other oil bag 205 is arranged below the shell 201, the hydraulic power unit 202 is respectively connected with the oil bags 205 on the upper side and the lower side through oil passages, the electronic compass 203 and the control panel 204 are arranged inside the shell 201, the electronic compass 203 can detect the posture of the buoyancy adjusting device 2 in real time, and the control panel 204 is used for controlling the hydraulic power unit 202; the bottom of the lower oil bag 205 is provided with a fixing frame 206, and the fixing frame 206 is used for connecting with the hydrophone array 1;

s2, after the target is detected, the hydrophone array 1 is adjusted to be a vertical array, and the target is aimed through a narrow beam;

s3, after the target moves out of the observation area, the hydrophone array 1 is adjusted towards the horizontal direction to increase the horizontal space gain, and continuous tracking of the target is realized;

the depth and pointing direction of the hydrophone array 1 will be continuously adjusted according to the ambient noise and the distance of the target to achieve continuous extended tracking of the target within the convergence zone.

Specifically, hydrophone array 1 constitutes the sonar, and the sonar is in the sound field mode of the different degree of depth in the deep sea, divides into four depth intervals to this depth range of conjugate depth from the sea surface:

near the sea surface: the depth is less than or equal to 500 m;

range of vocal tract axis: 500-3500 m;

(iii) around the conjugate depth: depth 3500-;

fourthly, conjugate depth to seabed: 4117m-5000 m;

Specifically, to the sonar of initiative, when launching transducer transmission signal and shining the sea surface target, initiative sonar is equivalent to the transmitting terminal, and the target is the receiving terminal:

sonar is in a depth section (i), the sound field is in a CZ1 mode, as shown in fig. 4 (a);

sonar is in a depth interval, and the sound field is in an SOFAR mode, as shown in FIG. 4 (b);

sonar is in a depth interval and the sound field is in a CZ2 mode, as shown in FIG. 4 (c);

the sound field of the sonar in the depth interval (r) is an RAP mode, as shown in FIG. 4 d);

when a target reflects a sound source signal, the active sonar is equivalent to a receiving end, the target is an emitting end, but according to the sound field reciprocity principle, the positions of the target and the sonar are interchanged, the situation is the same as that when the active sonar irradiates the target, and the sound field mode is not changed;

the sound field modes of the passive sonar sound source and the receiving end are the same as those of the active sonar, the type of the sound field mode of the target on the sea surface is only related to the laying depth of the active/passive sonar, and simple statistics are carried out in the table 1.

Table 1 sound field patterns at different sound source depth-receiving depth configurations:

active/passive sonar depth	Target depth	Type of sound field pattern
			Depth interval
1	Section 1	CZ1 mode
			Depth interval-	Section 1	SOFAR mode
Depth interval (c)	Section 1	CZ2 mode
			Depth interval	Section	1	RAP mode

Specifically, when the sea surface target is in the range of 35-40km, the target can be detected based on the CZ mode and the RAP mode, and the intrinsic sound rays between the target and the sonar are similar, as shown in FIGS. 4(c) and (d);

the difference is that the main body is provided with a plurality of grooves,

when the sonar is arranged near the conjugate depth, the sound velocity is less than or equal to the sound velocity of the sea surface;

according to the Snell refraction law, the sound ray with the grazing angle equal to 0 and part of the sound ray smaller than 0 from the sound source can be refracted and turned around the sea surface without interaction with the sea surface;

when the sonar is placed below the conjugate depth, the sound velocity is greater than the sea surface sound velocity, and all sound rays from the sound source will be reflected by the sea surface, so although the intrinsic sound rays are similar in fig. 4(c) and (d), the sound field modes are different.

The feasibility analysis of acoustic detection of targets near the sea surface within the RAP range (approximately 40km) yielded ideal results.

Specifically, consider a transceiver active sonar system, the information flow of which is shown in fig. 5. When the sound wave with the sound source level of SL reaches the target through the propagation path, the sound intensity level is attenuated to SL-TL; the sound intensity level increases to SL-TL + TS due to target reflections; when the target reflection echo reaches the receiving hydrophone through the same propagation path, the sound wave is attenuated again, and the sound intensity level is changed into SL-2TL + TS, which is generally called echo signal level;

the noise level NL of the marine environment is suppressed by the array, the noise level can be regarded as NL-AG, the detection threshold of the system detector is DT, the signal-to-noise ratio at the input end of the receiving hydrophone is improved by G through sonar signal processing before judgment, and therefore the signal-to-noise ratio required at the input end of the receiving hydrophone is DT-G under a preset confidence level;

because the sonar system just can accomplish when predetermined function, satisfy:

the echo signal level-noise level-the minimum signal-to-noise ratio required at the input of the system-is therefore:

(SL-2TL+TS)-(NL-AG)＝DT-G (3.11)

namely:

SL-2TL+TS-NL+AG+G＝DT (3.12)

equation (3.11) is called the active sonar equation;

considering formula (3.12), when the left term of the equal sign is greater than the detection threshold, the sonar can effectively work to detect the target, and the larger the left term is, the better the detection performance of the sonar is, for the convenience of discussion, a combined sonar parameter, namely echo margin, is defined:

SE＝SL-2TL+TS-(NL-AG-G+DT) (3.13)

the echo margin represents the decibel number of the echo level of the active sonar exceeding the noise level, the larger the echo margin is, the better the detection performance of the sonar is, so the echo margin is selected as an index for evaluating the detection performance, the area with the echo margin larger than 0 in a sound field is a detectable area, and the detectable range of the active detection method based on RAP can be determined by predicting the echo margin;

with particular reference to FIG. 6: and (3) dividing the target scene into grids, calculating the two-way propagation loss 2TL by using a ray model under the assumption that the target is positioned at a certain grid point, reasonably assuming the other 6 parameters on the right side of the equal sign of the formula (3.13), and estimating the echo margin at the position of the hydrophone when the target is positioned at the grid point.

Specifically, depth adjustment of the RAP-based mode enables extension of the sounding distance:

with particular reference to FIG. 8: simulating depth-angle-of-arrival energy distributions of the target at different distances from the sonar within the RAP range:

as shown in fig. 8 (a): when the receiving array is 5km away from a target, at the moment, the direct wave mainly arrives, and the very strong target signal can be received when the base array is placed at any depth;

as shown in fig. 8(b) to (f): when the target starts to be far away from the receiving array, the energy of the direct waves received near the sea surface is weakened, more energy of the direct waves starts to converge to the sea bottom, and the multi-path structure also starts to be complicated, so that not only the direct waves, but also sea surface reflection and sea bottom reflection arrive;

as shown in fig. 8(g) and (h): as the target continues to move away from the matrix: r is 35km and/or R is 40km, and energy begins to transfer in a direction close to the sea surface again;

within the range of 35km, the array can receive target echo signals below the conjugate depth, and the array cannot effectively receive signals close to the sea bottom within 40 km;

for the RAP mode, the mode of the RAP is,

when the vertical array is below the conjugate depth 4117m and/or the vertical array is close to the sea bottom, the detection distance is shortened;

for example, in FIG. 8(h), when the vertical array is placed at 4800m depth, the target at 40km will not be probed;

when the vertical array is arranged at a position close to the conjugate depth 4300m, a target signal at 40km can be received;

therefore, the closer the vertical array position is to the conjugate depth detection distance, the farther if purely wind induced noise is considered.

Specifically, the depth adjustment based on the CZ mode and the SOFAR mode realizes the extension of the detection distance:

referring specifically to FIG. 10: according to the simulation result of the RAP area, the target can be well detected and tracked within 40km based on the RAP sonar;

obtaining depth-angle of arrival energy distributions at 45km, 50km, 55km and 60km outside an RAP range by using deep sea channel characteristics:

as can be seen from the variation rules of fig. 10(a) to (d), when the target leaves the RAP range, the highlight region in the depth-arrival angle energy distribution gradually moves toward the sea surface, which means that the receiving array must also move toward the sea surface to be able to continuously track and detect the target, at this time, if the receiving array is still placed below the conjugate depth, it is difficult to continuously track the target outside the RAP region, and the farther the target is from the receiving array, the closer the receiving array is to the sea surface.

Specifically, the matrix attitude adjustment based on the CZ mode and the SOFAR mode realizes the extension of the detection distance:

the influence of the matrix attitude on the detection performance is particularly obvious for CZ, CZ is a high-sound-energy convergence zone formed by superposition of a large number of in-phase normal waves near the sea surface, and the high-sound-energy convergence zone is called as a convergence zone, so that the CZ has a certain width in the horizontal direction, and the normal waves are superposed in a non-in-phase mode below the CZ, so that an acoustic shadow zone is formed;

when the receiving array is vertically arranged in the CZ, the situation that a part of array elements are in an acoustic shadow region is very likely to occur, black dots vertically arranged in fig. 11 represent the effect when the 32-element array (array interval is 5m) is vertically arranged, and it can be seen that most of the array elements of the 32-element vertical array are in the acoustic shadow region below the CZ, the energy of the shadow region is very weak compared with the CZ, in addition, the phase structure difference between shadow region signals and convergence region signals is also large, and if a part of the array elements are in the shadow region, the effect of improving the gain and the signal to noise ratio of the array cannot be achieved by performing beam forming on the signals received by the vertical array;

at this time, the vertical array is considered to be arranged along the tangential direction of the convergence zone, as shown by inclined black dots in fig. 11 (because the horizontal coordinate span is large, the posture of the inclined array in the figure is only a schematic diagram, and the aperture of the array is much smaller than the width of CZ under the real condition), the matrix can be basically and completely covered by the CZ, the signals reach each receiving array element and approximately have stable phase difference, and the signals received by each array element are strong, so that a higher signal-to-noise ratio can be expected;

when the array is inclined, a correction needs to be carried out on the array element weighting vector, and the phase compensation is mainly carried out on signals received by each array element, so that the signals can be superposed in the same direction in an expected direction;

FIG. 13 is a schematic diagram of the oblique array receiving incoming waves in the direction: the array element interval is d, which is a glancing angle; is the inclination of the array relative to the sea surface; according to a simple geometric relationship, if β ═ pi/2- α - θ, the path difference traveled by the sound waves of two adjacent array elements is d sin β, and the array element weighting vector becomes:

the depth-angle-of-arrival energy distribution output by the matrixes with different postures at 58km is shown in detail in the figure 14:

near the sea surface, the output energy of the tilted array is obviously larger, and the transverse distribution range is wider (a red highlight area in fig. 14 (b)), because the CZ tilted layout ensures that all array elements are positioned in a CZ high-energy zone, the output array gain is stronger after beam forming;

when the receiving depth is near 600m, the array mainly receives sea surface sea bottom reflected waves, the output power of the vertical array is larger than that of the inclined array, and because the inclined array has a part of array elements in a shadow area, the output energy is reduced;

with particular reference to FIG. 15: at a distance of 58km from the target, output power contrast curves of matrixes with different postures at different depths are obtained, the matrixes are positioned at a receiving depth of 40m, at the moment, the acoustic propagation mode is a CZ propagation mode, and the grazing angle of a main beam of CZ is close to 0 degrees, so that the peak value of the curve in the graph is also close to 0 degrees, as shown in FIG. 15 (a);

at the moment, the arrival angles corresponding to the output energy peak values of the vertical array and the inclined array still have slight difference, because the spatial position of the array is also changed after the array is obliquely arranged, and the arrival angles of the sound rays at different spatial positions are also different;

the output power curve of the matrix at the depth of 580m is shown in fig. 15(b), and since some array elements are in shadow areas after the matrix is inclined, the output energy of the inclined matrix at the depth of 580m is smaller than that of the vertical matrix.

The matrix attitude is adjusted to essentially make more array elements in the high acoustic energy region and obtain higher matrix gain.

With particular reference to FIG. 16: the depth-angle-of-arrival energy distribution output by the matrixes with different postures at 50km is as follows:

in a high-brightness area with the depth range of 1200m-3000m, the output energy is obviously larger than that of a vertical array after the array deviates from the vertical direction by 10 degrees;

with particular reference to FIG. 17: giving an output power contrast curve of matrixes in different postures at a distance of 50km from a target, wherein the arrival angle of a main beam is near 12 degrees, the matrixes are located at 2320m and 2850m, and the output energy (a red curve in figure 17) of an oblique matrix is larger than that of a vertical matrix (a blue curve in figure 17);

therefore, in some cases, the array elements can be located in a high sound energy area by properly inclining the array, and a more ideal output effect can be obtained.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A method for realizing deep sea expansion tracking by using a floating and sinking load device is characterized by comprising the following steps:

s1, constructing a movable underwater detection node;

2. The method for realizing deep sea expansion tracking by using the floating and sinking load device according to claim 1, wherein the method comprises the following steps:

the hydrophone array constitutes the sonar, the sonar is at the sound field mode of the different degree of depth under the deep sea, divides into four depth intervals to this depth range of conjugate depth sea surface:

near the sea surface: the depth is less than or equal to 500 m;

range of vocal tract axis: 500-3500 m;

(iii) around the conjugate depth: depth 3500-;

fourthly, conjugate depth to seabed: 4117m-5000 m;

3. The method for realizing deep sea expansion tracking by using the floating and sinking load device according to claim 2, wherein the method comprises the following steps:

to initiative the sonar, when launching transducer transmission signal and shining the sea surface target, initiative sonar is equivalent to the transmitting terminal, and the target is the receiving terminal:

the sonar is in a depth interval (a) sound field is in a CZ1 mode;

the sonar is in a SOFAR mode in a depth interval;

the sonar is in a depth interval, and the sound field is in a CZ2 mode;

the sound field of the sonar in the depth interval (iv) is an RAP mode;

4. The method for realizing deep sea expansion tracking by using the floating and sinking load device according to claim 3, wherein the method comprises the following steps:

when the sea surface target is in the range of 35-40km, the target can be detected based on a CZ mode and an RAP mode.

5. The method for realizing deep sea expansion tracking by using the floating and sinking load device according to claim 4, wherein the method comprises the following steps:

by predicting the echo margin, the detectable range of the RAP-based active probing method can be determined.

6. The method for realizing deep sea expansion tracking by using the floating and sinking load device according to claim 5, wherein the method comprises the following steps:

depth adjustment of the RAP-based mode enables extension of the sounding distance.

7. The method for realizing deep sea expansion tracking by using the floating and sinking load device according to claim 6, wherein the method comprises the following steps:

depth adjustment based on the CZ mode and the SOFAR mode realizes extension of the detection distance.

8. The method for realizing deep sea expansion tracking by using the floating and sinking load device according to claim 7, wherein the method comprises the following steps:

and the extension of the detection distance is realized based on the matrix attitude adjustment of the CZ mode and the SOFAR mode.