CN110703260B - Frequency conversion sonar depth sounding method based on fractional Fourier transform - Google Patents
Frequency conversion sonar depth sounding method based on fractional Fourier transform Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/101—Particularities of the measurement of distance
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
- G01S15/104—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a frequency conversion sonar depth sounding method based on fractional Fourier transform, which specifically comprises the following steps: generating a linear frequency modulation signal; (2) power amplification; (3) signal transmission; (4) monitoring echo signals; (5) judging the received echo: and (6) calculating a display distance. The frequency conversion sonar depth measurement method based on fractional Fourier transform carries out sonar depth measurement based on the characteristic that linear frequency modulation signals are highly concentrated in energy in a fractional Fourier transform domain, can effectively distinguish sonar echo signals under the condition of extremely low signal-to-noise ratio, and therefore greatly strengthens the remote detection function of sonar.
Description
Technical Field
The invention relates to the technical field of sonar depth measurement, in particular to a frequency conversion sonar depth measurement method based on fractional Fourier transform.
Background
1. Active sonar technology
The active sonar is called echo locator, which is a general name of various sonars for actively transmitting underwater acoustic signals and acquiring target parameters from underwater target reflection echoes. The device is used for detecting underwater targets and measuring the moving elements such as distance, direction, navigational speed, course and the like. The sonar emits a certain detection signal, the signal meets an obstacle or a target on a path propagated in water, the signal is reflected back to reach an emitting point to be received, and target information is stored in an echo reflected back by the target, so that parameters of the target can be judged according to the received echo signal. The sonar can accurately measure the target distance and can detect a fixed target. The method has poor concealment, short action distance and reverberation interference.
2. Linear frequency modulated signal
Chirp modulation (LFM) is a spread spectrum modulation technique that does not require a pseudo-random code sequence. Because the frequency bandwidth occupied by the chirp signal is much larger than the information bandwidth, a large system processing gain can be obtained. Chirp signals are also called Chirp Spread Spectrum (CSS) because their spectral bandwidth falls within the audible range and they are heard as bird sounds. The LFM technology is widely applied to radar and sonar technologies, for example, in the radar positioning technology, the LFM technology can increase the radio frequency pulse width, improve the average transmitting power, increase the communication distance and simultaneously maintain enough signal spectrum width without reducing the distance resolution of the radar.
3. Fractional Fourier transform
Fractional fourier transform (FRFT) is a mathematical generalization of Fourier Transform (FT). The Fourier transform is to change the viewing angle from time domain to frequency domain, the fractional Fourier transform is to rotate the coordinate axis of the time-frequency plane by the angle of the viewing time-frequency plane, and then to analyze the information from the angle of the viewing frequency domain. One operator that the fractional fourier transform has added is the angle of this rotation. The rotation angle is expressed in a fractional form, and the value is 0-1, and when the value is 1, the rotation angle is equivalent to Fourier transform. The reason for performing a fractional fourier transform on the information is that: most information is non-stationary signals, the significant features of the non-stationary signals cannot be analyzed by Fourier transform, and the application of fractional Fourier transform mainly can select the angle with the most concentrated information to be analyzed, namely, the result with the largest amplitude is selected from the results obtained by different fractional orders, and the fractional order of the result is the optimal order.
Disclosure of Invention
The invention aims to solve the technical problem of providing a frequency conversion sonar depth sounding method based on fractional order Fourier transform to solve the problems of poor concealment and reverberation interference of a sonar depth sounding technology in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows: a frequency conversion sonar depth sounding method based on fractional Fourier transform is characterized by comprising the following steps: the method specifically comprises the following steps:
(1) Generating a Chirp signal by using a signal generating device;
(2) The Chirp signal Chirp is transmitted to a power amplifier, the energy of the Chirp signal Chirp is amplified to energy AP through the power amplifier, and the power amplifier transmits the Chirp signal S (t) subjected to power amplification to an ultrasonic transducer;
(3) Transmitting a power-amplified chirp signal S (t) using an ultrasonic transducer;
(4) Monitoring the echo condition generated by the signal within the time range of the emission waiting time Tb, wherein the monitoring method is to perform analog-to-digital conversion on a signal wire of the ultrasonic transducer, and transmit a digital signal obtained by the conversion into a signal processing module;
(5) For the frame-by-frame fractional Fourier analysis of the echo signal, the angle parameter using the fractional Fourier analysis should satisfy the following conditions:
wherein beta is the corresponding fractional Fourier transform angle, f 1 To generate the upper frequency limit of Chirp, f 2 In order to generate a lower frequency limit of the Chirp, T is the total duration of the Chirp, and the corresponding fractional Fourier transform is as follows:
wherein t is the Chirp generation time;
because the chirp echo signal presents an impact signal characteristic in the angle of fractional Fourier transform, the impact signal existing in beta is detected in each data frame echo, the spectral energy of the data frame is calculated, and the detected data frames are continuously stored;
(6) When the energy of the impact signal is continuously enhanced when continuous multiple frames appear, and reaches the maximum value in the next frames and lasts for n frames, judging that the echo signal is received;
(7) After judging that the echo signal is received, recording the ordinal number of the current frame in the period as k, and carrying out depth measurement;
the distance formula of the sounding is as follows:
wherein, T c Is the duration of a single frame of signal processing; c is sound in a mediumAnd (4) speed.
Further, the Chirp signal Chirp in step (1) satisfies the following condition:
wherein, a is the amplitude of the generated Chirp, and T is the total duration of Chirp.
Further, the energy AP in step (2) should be greater than 2400W, the frequency response curve of the power amplifier is kept flat in the response frequency range, and the lower limit of the frequency response range of the power amplifier is less than f 1 Upper limit of frequency response range is greater than f 2 。
Further, when the power-amplified chirp signal S (T) is transmitted in step (3), the duration T of each transmission cycle is s Expressed as: t is s ＝T+T b Wherein, T b Representing the time of transmission latency in one cycle.
Further, in the step (3), T b The time meets the following conditions:
wherein, the sigma is a margin coefficient, the value of the sigma is 0.1 to 0.3, the c is the sound velocity in the medium, and the L is the maximum length capable of measuring depth.
Further, when performing frame-by-frame analysis in the step (5), the duration Tc of a single frame is greater than T, and the frame overlap rate is 95%, that is, the frame shift is 5%.
Further, the number of frames of the spectrum energy of the data frames continuously saved in the step (5) is less than or equal to k frames, where k =20Ts/T.
Compared with the prior art, the invention has the following beneficial effects:
the frequency conversion sonar depth measurement method based on fractional Fourier transform carries out sonar depth measurement based on the characteristic that energy of linear frequency modulation signals is highly concentrated on a fractional Fourier transform domain, can effectively distinguish sonar echo signals under the condition of extremely low signal-to-noise ratio, and therefore greatly strengthens the remote detection function of sonar.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments are briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flow chart of a frequency conversion sonar depth sounding method based on fractional Fourier transform.
Fig. 2 is a spectrum energy diagram of a frequency conversion sonar depth sounding method based on fractional order fourier transform when echo signals are received.
Detailed Description
The technical solution of the present invention will be clearly and completely described by the following detailed description.
The invention provides a fractional Fourier transform-based frequency-conversion sonar depth sounding method, which specifically comprises the following steps:
(1) Using a signal generating device, generating a Chirp signal Chirp, which satisfies the following conditions:
where A is the amplitude of the generated Chirp, f 1 To generate the upper frequency limit of Chirp, f 2 In order to generate a Chirp frequency lower limit, T is the Chirp duration total time, and T is the Chirp generation time;
(2) The method comprises the steps of transmitting a Chirp signal Chirp to a power amplifier, amplifying the energy of the Chirp signal Chirp to an energy AP through the power amplifier, and transmitting the power-amplified Chirp signal S (t) to an ultrasonic transducer through the power amplifier, wherein the energy AP is larger than 2400W, a frequency response curve of the power amplifier keeps straight in a response frequency range, the lower limit of a frequency response range of the power amplifier is smaller than f1, and the upper limit of the frequency response range is larger than f2.
(3) Transmitting a power amplified chirp signal S (T) using an ultrasonic transducer, each transmission cycle having a duration T s Expressed as:
T s ＝T+T b
wherein, T b Represents the time of transmission latency in one cycle; t is b The time meets the following conditions:
wherein, the sigma is a margin coefficient, the value of the sigma is 0.1 to 0.3, the c is the sound velocity in the medium, and the L is the maximum length capable of measuring depth.
(4) At transmission waiting time T b In the time range of the monitoring module, the echo condition generated by the signal is monitored, the monitoring method is to carry out analog-to-digital conversion on a signal wire of the ultrasonic transducer, and a digital signal obtained by the conversion is transmitted into the signal processing module;
(5) And carrying out frame-by-frame fractional Fourier analysis on the echo signal, wherein the single-frame time Tc is greater than T when the frame-by-frame analysis is carried out, and the frame overlapping rate is 95 percent, namely the frame shift is 5 percent. The angle parameters using fractional fourier analysis should satisfy the following condition:
wherein beta is the corresponding fractional Fourier transform angle, f 1 To generate the upper frequency limit of Chirp, f 2 In order to generate a lower frequency limit of the Chirp, T is the total duration of the Chirp, and the corresponding fractional Fourier transform is as follows:
wherein t is the Chirp generation time;
since the chirp echo signal presents impulse signal characteristics in the angle of fractional Fourier transform, detecting the impulse signal existing in beta in each data frame echo, calculating the spectral energy of the data frame, and continuously storing the detected data frame with the number of frames for continuously storing the spectral energy of the data frame being less than or equal to k frames, wherein k =20Ts/T.
(6) When the energy of the impact signal is continuously enhanced when a plurality of continuous frames appear, reaches the maximum value in the following frames and lasts for n frames, judging that the echo signal is received as shown in figure 2;
(7) After judging that the echo signal is received, recording the ordinal number of the current frame in the period as k, and carrying out depth measurement by using a final depth measurement distance formula, wherein the depth measurement distance formula is as follows:
wherein, T c Is the duration of a single frame of signal processing; c is the speed of sound in the medium.
The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art should fall into the protection scope of the present invention without departing from the design concept of the present invention, and the technical contents of the present invention as claimed are all described in the technical claims.
Claims (7)
1. A frequency conversion sonar depth sounding method based on fractional Fourier transform is characterized by comprising the following steps: the method specifically comprises the following steps:
(1) Generating a Chirp signal Chirp by using a signal generating device;
(2) Transmitting the Chirp signal Chirp to a power amplifier, amplifying the energy of the Chirp signal Chirp to energy AP through the power amplifier, and transmitting the power-amplified Chirp signal S (t) to an ultrasonic transducer through the power amplifier;
(3) Transmitting a power-amplified chirp signal S (t) using an ultrasonic transducer;
(4) At the transmission waiting time T b In the time range of the monitoring module, the echo condition generated by the signal is monitored, the monitoring method is to carry out analog-to-digital conversion on a signal wire of the ultrasonic transducer, and a digital signal obtained by the conversion is transmitted into the signal processing module;
(5) For frame-by-frame fractional Fourier analysis of echo signals, the angle parameters of the fractional Fourier analysis satisfy the following conditions:
wherein beta is the corresponding fractional Fourier transform angle, f 1 To generate the upper frequency limit of Chirp, f 2 In order to generate a lower frequency limit of the Chirp, T is the total duration of the Chirp, and the corresponding fractional Fourier transform is as follows:
wherein t is the Chirp generation time;
because the chirp echo signal presents an impact signal characteristic in the angle of fractional Fourier transform, the impact signal existing in beta is detected in each data frame echo, the spectral energy of the data frame is calculated, and the detected data frames are continuously stored;
(6) When the energy of the impact signal of continuous multi-frame appears and is continuously enhanced, and reaches the maximum value in the next frames and lasts for n frames, judging that the echo signal is received;
(7) After judging that the echo signal is received, recording the ordinal number of the current frame in the period as k, and carrying out depth sounding;
the distance formula of the sounding is as follows:
wherein, T c Is the duration of a single frame of signal processing; c is the speed of sound in the medium.
2. The frequency conversion sonar depth measurement method based on fractional Fourier transform according to claim 1, characterized in that: the Chirp signal Chirp in the step (1) meets the following conditions:
wherein, a is the amplitude of the generated Chirp, and T is the total duration of Chirp.
3. The frequency conversion sonar depth sounding method based on fractional Fourier transform according to claim 1, characterized in that: the energy AP in the step (2) is larger than 2400W, the frequency response curve of the power amplifier keeps flat in a response frequency range, and the lower limit of the frequency response range of the power amplifier is smaller than f 1 Upper limit of frequency response range is greater than f 2 。
4. The frequency conversion sonar depth measurement method based on fractional Fourier transform according to claim 1, characterized in that: when the chirp signal S (T) with amplified power is transmitted in the step (3), the duration T of each transmission cycle s Expressed as: t is s ＝T+T b Wherein, T b Representing the time of transmission latency in one cycle.
5. The frequency conversion sonar depth sounding method based on fractional Fourier transform according to claim 4, characterized in that: in the step (3), T b The time meets the following conditions:
wherein, the sigma is a margin coefficient, the value of the sigma is 0.1 to 0.3, the c is the sound velocity in the medium, and the L is the maximum length capable of measuring depth.
6. The frequency conversion sonar depth measurement method based on fractional Fourier transform according to claim 1, characterized in that: when the frame-by-frame analysis in the step (5) is performed, the single-frame duration Tc is greater than T, and the frame overlapping rate is 95%, that is, the frame shift is 5%.
7. The frequency conversion sonar depth measurement method based on fractional Fourier transform according to claim 4, characterized in that: the number of frames in which the spectral energy of the data frames is continuously saved in the step (5) is less than or equal to k frames, wherein k =20T s /T。
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| CN105783974A (en) * | 2014-12-25 | 2016-07-20 | 中国科学院声学研究所 | Chirp signal detection, parameter estimation method, and system thereof |
| CN106249208A (en) * | 2016-07-11 | 2016-12-21 | 西安电子科技大学 | Signal detecting method under amplitude modulated jamming based on Fourier Transform of Fractional Order |
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| CN109510787A (en) * | 2018-10-15 | 2019-03-22 | 中国人民解放军战略支援部队信息工程大学 | Underwater acoustic channel lower linear FM signal method for parameter estimation and device |
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| CN105783974A (en) * | 2014-12-25 | 2016-07-20 | 中国科学院声学研究所 | Chirp signal detection, parameter estimation method, and system thereof |
| CN106249208A (en) * | 2016-07-11 | 2016-12-21 | 西安电子科技大学 | Signal detecting method under amplitude modulated jamming based on Fourier Transform of Fractional Order |
| CN106291516A (en) * | 2016-07-27 | 2017-01-04 | 河海大学 | A kind of elimination method of sonar response formula interference |
| CN109510787A (en) * | 2018-10-15 | 2019-03-22 | 中国人民解放军战略支援部队信息工程大学 | Underwater acoustic channel lower linear FM signal method for parameter estimation and device |
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