CN101470187A - High-precision direction finding method used for linear array - Google Patents
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Abstract
The invention discloses a high precision direction measurement method for linear arrays, comprising: forming frequency domain traditional wave beam for the two-dimensional space-time signals received by a linear array; scanning in the wave beam domain to obtain a target angle measured roughly; dividing the linear array into a plurality of sub arrays; in the target angle range measured roughly, processing frequency domain traditional wave beam formation and focusing on the space-time two dimension signals received by each sub array to form frequency domain-wave number data; in the target angle range measured roughly, processing the frequency domain-wave number data according to a wideband focusing minimum variance distortion-less method, to obtain the direction of target signal. The invention has high calculation speed, can realize real-time processing, has high algorithm robustness, and has high target detection precision.
Description
Technical field
The present invention relates to the sonar signal processing technology field, more specifically, the present invention relates to a kind of high-precision direction finding method that is used for linear array.
Background technology
The basic problem that sonar signal is handled is exactly direction finding, to determine the direction of interested spacing wave.The high-precision direction finding technology is meant and adopts certain algorithm, and the target emanation that array is received or the space-time two-dimension signal of reflection are handled, thereby the high precision that obtains the target azimuth is estimated.The high-precision direction finding technology has a wide range of applications in fields such as sonar, radars.
Comprise at the high-precision direction finding algorithm that typically is used at present linear array: the Capon method in " J.Capon; High-Resolution Frequency-Wavenumber Spectrum Analysis; Proceedingsof the IEEE; Vol.57; No.8; August 1969 ", arrowband two-dimensional frequency wave beam forming method in " Sun Changyu etc.; two-dimensional frequency wave beam formation method; applied acoustics; 1995 ", multiple signal classification (MUSIC) method in " James.A.Cadzow; Direction-of Arrival Estimation Using SignalSubspace Modeling; IEEE transaction on aerospace and electronicsystems; Vol.25; No.1; January 1992 ", adaptive beam forming method and " Roy R etc. in " ShahramShahbazpanahi; Robust Adaptive Beamforming for General-Rank SignalModels; IEEE transactions of signal processing; vol.51; no.9; September2003 ", ESPRIT-A Subspace Rotationapproach to estimation of parameters of cissoids in noise, IEEETrans.ASSP, 1986 " rotational invariants modulated parameter estimating method (ESPRIT) method in.
The Capon method is meant that the minimization system gross output forms very big response in the echo signal position by keeping echo signal position output power constant, and other orientation output is minimum.Be expressed as:
Wherein, a is the direction vector of assigned direction, and R is an array output covariance matrix, and w is a weighing vector.For the method, if the length of input signal is N, then to calculate N*N dimension inverse of a matrix matrix accordingly, growth along with N, calculated amount can sharply increase, the computing power of total system is required high, and the element number of array N of general linear array is tens and even hundreds of, and so huge matrix inversion causes this method poor practicability.
Arrowband two-dimensional frequency wave beam forming method carries out fast Fourier transform (FFT) in time domain and spatial domain to the input array data under the condition of arrowband echo signal input, obtain wave beam at frequency domain and form.This method can only be handled narrow band signal, and the broadband signal that often runs into during with direction finding does not match, poor practicability.
The MUSIC method is that a kind of typical space spectrum is estimated direction-finding method, at first estimates the number of signal source, secondly signal output covariance matrix is carried out characteristic value decomposition, at last aspect is scanned, and finds the spectrum peak of respective signal source number.This method is very responsive to the array model mismatch, and its estimated performance obviously descends when having array error.It is irrelevant that the method requires signal source, and noise is the space white noise with equal-wattage, these 2 generally are difficult to satisfy in actual applications, cause the system performance instability, system robustness is poor, this method need be exported covariance matrix to signal and carries out characteristic value decomposition in addition, relates to the problem that large matrix is inverted, and also brings the huge problem of calculated amount.
The adaptive beam forming method is meant the variation of system according to the neighbourhood noise field, and constantly the parameter of adjusting itself suppresses to disturb and detect useful signal to adapt to surrounding environment automatically.The system performance less stable of this method, and constantly adjust parameter and also bring the big problem of calculated amount, practical application difficulty.
The ESPRIT method is meant that rotational invariants implicit in the signal subspace that utilizes sensor array grouping gained realizes measuring arrival bearing's method.The invariant of subspace is by setting up auto-correlation and cross-correlation matrix is realized.Former array is decomposed into two submatrixs, by least square (Least Square, LS) or total least square (Total Least Square, TLS) match comes the phase shift matrix of estimator array, obtains the echo signal DOA estimation.When in calculating, relating to the estimation of cross correlation value between element, from auto-correlation and cross-correlation matrix deduction estimate noise variance but very fatal sometimes, and make whole structure not good, make the poor stability of system, Practical Performance is relatively poor.
In general, because the abominable of underwater sound working environment (for example, the complexity of the easy mismatch of noise model, ocean propagation channel, the easy mismatch of formation etc.), above method is in the practical application of present stage, perhaps calculated amount is huge, and system is difficult to load, perhaps poor practicability, robustness is not high, is difficult to obtain in the application of reality adopt.
Summary of the invention
Not high and be difficult to handle the defective of broadband target signal for overcoming poor practicability, robustness in the existing high precision side direction technology, the invention provides a kind of high-precision direction finding method that is used for linear array.
According to an aspect of the present invention, proposed a kind of high-precision direction finding method that is used for linear array, having comprised:
Step 10), to the space-time two-dimension signal that described linear array receives, carry out frequency domain tradition wave beam and form, in the wave beam territory, obtain the bigness scale angle on target;
Step 20), described linear array is divided into several submatrixs, in described bigness scale angle on target, the space-time two-dimension signal that each submatrix is received carries out frequency domain tradition wave beam respectively and forms and focus on and form frequency domain-wave number data;
Step 30), described frequency domain-wave number data are handled according to the undistorted method of broadband focused Minimum Variance in described bigness scale angle on target scope, obtain the echo signal orientation.
Wherein, step 10) further comprises:
Step 110), obtain the described space-time two-dimension signal frequency-domain data of each array element, described frequency domain data is carried out the spatial domain zero padding, and each frequency is done fast fourier transform and spectral shift on spatial domain, obtain frequency and wave beam corresponding data;
Step 120), at described each frequency, according to frequency-wave number grid described frequency and wave beam corresponding data are proofreaied and correct, obtain frequency-wave number data matrix;
Step 130), described frequency-wave number data matrix is done anti-fast fourier transform at frequency domain, and carry out wave beam and form and handle, obtain respectively to search for the output power on the orientation;
Step 140), determine that the signal greater than the output power in each orientation of setting threshold is the signal with described bigness scale angle on target.
Wherein, step 20) comprising:
Step 210), linear array logically is divided into a plurality of submatrixs, use described each submatrix to receive space-time two-dimension signal;
Step 220), described space-time two-dimension signal is done fast fourier transform on time domain, obtain the frequency domain data of each array element, and be created on the bigness scale angular range and handle in the bandwidth time-delay table between the submatrix on each frequency component;
Step 230), to the frequency domain data of submatrix, zero padding on spatial domain, and do the fast fourier transform and the spectral shift of spatial domain on each frequency component in target frequency bands obtains frequency and wave beam corresponding data;
Step 240), on each frequency in handling bandwidth, described frequency and wave beam corresponding data are proofreaied and correct, obtain frequency-wave number data matrix, by anti-fast fourier transform, obtain time-the wave number data matrix.
Wherein, step 30) comprising:
Step 310), in each angle of described bigness scale angle on target scope, described time-wave number data matrix is reassembled as the data matrix of processing bandwidth * submatrix number dimension;
Step 320), calculate the covariance matrix and the inverse matrix thereof of the data matrix of described processing bandwidth * submatrix number dimension, and be the undistorted algorithm of broadband focused Minimum Variance of complete " 1 " vector according to steering vector, obtain the interior output power of bigness scale angular range;
Step 330), search for described output power, will be defined as echo signal greater than the signal of setting threshold, export described echo signal orientation.
Wherein, step 110) also comprise: described space-time two-dimension signal is done fast fourier transform on time domain, obtain the frequency domain data of each array element.
Wherein, step 110) in, described spatial domain zero padding can directly zero padding after former data, also can interpolation zero padding in former data.
Wherein, step 210) in, the mode that linear array is logically divided comprises: submatrix is not overlapping, submatrix is overlapping and submatrix is intersected.
Wherein, step 230) in, described spatial domain zero padding can directly zero padding after former data, also can interpolation zero padding in former data.
Wherein, step 240) also comprise: on each frequency of handling bandwidth, described 2D signal is proofreaied and correct, obtained frequency-wave number data matrix according to time-delay table between frequency-wave number grid and described submatrix.
Wherein, longer for the length of the described space-time two-dimension signal that receives, be divided into the short signal of a plurality of length.
By using method of the present invention, adopt the frequency domain wave beam to form, make full use of fast fourier transform, computing velocity is fast, is convenient to the DSP Project Realization, can realize handling in real time; Adopt fast fourier transform, computing on frequency domain is decomposed into a plurality of frequency signals with broadband signal, and each frequency is handled, and is adapted to the direction finding of broadband noise target; Adopt the conventional wave beam of the high frequency domain of counting yield to form and carry out the bigness scale of target azimuth, adopt the MVDR algorithm of the high precision branch submatrix that reduces dimension and computation complexity to carry out the target azimuth accurate measurement, algorithm robustness height, target detection precision height then.
Description of drawings
Fig. 1 is a conventional linear array synoptic diagram of the prior art;
Fig. 2 is the overview flow chart of high-precision direction finding method;
Fig. 3 is that the linear array submatrix is divided synoptic diagram;
Fig. 4 is the particular flow sheet of high-precision direction finding method of the present invention;
Fig. 5 is the synoptic diagram of frequency-wave number grid;
Fig. 6 is according to the sonar data processing of an embodiment and shows the control system.
Embodiment
Below in conjunction with the drawings and specific embodiments a kind of high-precision direction finding method that is used for linear array provided by the invention is described in detail.
Fig. 1 illustrates conventional linear array of the prior art, as shown in Figure 1, the linear array 102 that is used to receive spacing wave is made up of the non-directive nautical receiving set 101 of 32 routines, the received signal centre frequency of nautical receiving set 101 is 5000KHz, interval half wavelength between any two nautical receiving sets, the total length of the sound section of shaking of linear array 012 is 4.65 meters, and linear array 102 can be installed on submarine or the autonomous underwater vehicle.
In according to the method that embodiments of the invention provided, as shown in Figure 2, by the high efficiency of utilizing fast fourier transform to calculate, the space-time two-dimension data that whole linear array is received realize that at frequency domain conventional fast wave beam forms, and obtain the bigness scale orientation of broadband target signal after the scanning of wave beam territory; Near the bigness scale orientation, utilize the broadband to focus on the high precision estimation that the MVDR algorithm carries out the target azimuth, broadband then, obtain the output of high precision target Bearing Estimation.Consider that conventional MVDR algorithm relates to the problem of calculating N*N dimension inverse of a matrix matrix, linear array logically is divided into several submatrixs, carrying out fast in each submatrix, the conventional wave beam of frequency domain forms, each submatrix is considered as a virtual array element, carry out the broadband again and focus on the MVDR algorithm, greatly reduce complexity of calculation, also can obtain high-precision broadband target Bearing Estimation simultaneously.
The submatrix dividing mode of linear array has a variety of, wherein, three kinds of common submatrix dividing mode are arranged, as shown in Figure 3, mode 201 is the nonoverlapping dividing mode of submatrix, if the distance between each submatrix center is excessive, can cause occurring graing lobe, but for not very long linear array, this problem can not appear; Mode 202 is the overlapping dividing mode of submatrix, because array element is overlapping, can avoid the appearance of graing lobe, but the corresponding calculated amount that increased; Mode 203 is the dividing mode that submatrix is intersected, though keep the resolution of whole piece linear array, if the submatrix number is too much, the graing lobe phenomenon will occur, following according to embodiments of the invention in, adopt the nonoverlapping dividing mode of 201 submatrixs.Persons of ordinary skill in the art may appreciate that and use other two kinds of dividing mode can realize method of the present invention too, and reach desired technique effect.
In according to one embodiment of present invention, Fig. 4 is shown specifically a kind of flow process that is used for the high-precision direction finding method of linear array.
As shown in Figure 4, the space-time two-dimension signal that single linear array is received, carry out frequency domain tradition wave beam and form (traditional wave beam forms the delayed addition wave beam and forms, and it is that delayed addition wave beam formation method is realized at frequency domain that frequency domain tradition wave beam forms) obtains bigness scale in the interscan of wave beam territory angle on target.
Step 501: receive the space-time two-dimension signal with single linear array, from each array element acquisition time domain data of this linear array.
Step 502: to each array element in the linear array, get one section reception data respectively and on time domain, do fast Fourier transform (FFT), obtain the frequency domain data of each array element, form a frequency domain-spatial domain data matrix.
In this step, it is noted that promptly the data matrix dimension is big more because the data length of getting is long more, then arithmetic speed can corresponding slowing down.In order to guarantee that arithmetic speed can satisfy the requirement of real-time processing, data length is unsuitable excessive.General FFT computing is counted 1024 and following equal can meeting the demands.
Step 503: the data padding of on spatial domain, step 502 being obtained, then each frequency of handling in the bandwidth is done fast fourier transform on spatial domain, obtain frequency domain-wave number matrix; The zero-frequency component that obtains data is moved to the spectrum center, obtain one group and each frequency and the corresponding data of wave beam, i.e. frequency-wave number data matrix;
Because the total array number M of linear array is generally little, in order on spatial domain, to do the distribution that " dense " arranged more in frequency-wave number grid (as shown in Figure 5) behind the FFT, make that sample point can be near guide angle arbitrarily, on spatial domain to the data zero padding to N
pPoint, N
pBe far longer than M.
The spatial domain zero padding can have multiple choices, both can be after former data directly zero padding, also can interpolation zero padding in former data, as long as the data length after the zero padding meets the demands.
Persons of ordinary skill in the art may appreciate that it is a kind of disposal route commonly used that the zero-frequency component is moved to the spectrum center, all has explanation in many documents.
Step 504: be the following correction of doing, need produce frequency-wave number grid in advance.
Specifically, in this step, the frequency of Chan Shenging-wave number grid is by following various definition in advance:
t(k，m)＝round(N
P*f
k*τ(θ
m)+0.5)，f
k＝k*f
s/N，τ(θ
m)＝d*sin(θ
m)/c；
Wherein, k is a frequency, t (k, the m) data of expression frequency-wave number grid intermediate-frequeney point k and wave number m position, f
s, f
kBe respectively sample frequency and k frequency frequency, d is an array element distance, θ
mBe scan angle, N
PBe to count after the spatial domain zero padding, N is that FFT counts, and the integer near x is got in round (x) expression, and the n that matrix x is got in x (n :) expression is capable.
Step 505: frequency-wave number grid that foundation produces in advance on each frequency is to being proofreaied and correct by the frequency domain-wave number matrix of step 503 gained.
Adopt FFT to realize that it is value on the wavenumber domain that the frequency domain wave beam forms pairing angle, it or not real angle, in order to obtain the value of corresponding real angle, generally need carry out interpolation to it, interpolation generally means huge calculated amount, the present invention adopts the method that generates the frequency-wave number grid that is used for proofreading and correct in advance to proofread and correct, but this method list of references " Brian Maranda; Efficient digital beamformingin the frequency domain; 1989, J.Acoustical Society of America ".
Specifically, in this step, frequency-wave number grid is proofreaied and correct and is defined by following formula:
P
2(k，：)＝P(k，t(k，：)+N
P/2)
Wherein, k is a frequency, and P is the data that FFT obtains after the spatial domain zero padding, P
2Be data after frequency-wave number grid is proofreaied and correct, N
PBe to count after the spatial domain zero padding, the n that matrix x is got in x (n :) expression is capable.
Step 506: frequency-wave number data matrix that step 505 obtains is done anti-fast fourier transform at frequency domain, acquisition time-wave number data matrix;
Step 507: with step 506 obtain time-the wave number data matrix each row conjugate transpose with himself multiply each other, obtain in the output power of searching on the orientation; Search for the output of each orientation, greater than setting threshold, think the echo signal position, export these echo signal orientation; This step is that wave beam forms step, time-tabulation of wave number data matrix shows a search orientation, the signal of a time point of a line display.
The step-length of search angle is more little, and the wave beam of output is many more, and the precision of detection is also high more.The echo signal DOA estimation of output is the target azimuth of bigness scale, and these values are used for determining that next step broadband focuses on the angular range of MVDR algorithm process.
Single linear array is logically cut apart, be divided into top in conjunction with described several submatrixs of Fig. 3, in bigness scale angle on target scope, space-time two-dimension signal to each submatrix carries out the formation of frequency domain tradition wave beam respectively, because dimension descends, reduced calculated amount, focused on (each submatrix wave beam of delaying time forms the result) subsequently and be sent to next step;
Step 508: single linear array is logically cut apart, be divided into N_sub submatrix, receive the space-time two-dimension signal with each submatrix; The submatrix of being divided is referring to shown in Figure 3;
Step 509): according to step 507 angular regions of accurate measurement need to be determined in) the target azimuth of the bigness scale of Huo Deing;
In this step, determining of accurate measurement zone will be determined according to the project demand and the hardware condition of reality.Get about the bigness scale angle each 3 degree in the present embodiment for needing the angular regions of accurate measurement, this also requires the error of the target azimuth of bigness scale can not exceed ± 3 degree, and generally speaking the conventional wave beam of frequency domain forms and can reach this requirement.
Step 510): according to step 508) the submatrix splitting scheme and the step 509 of Que Dinging) the accurate measurement angular range of Que Dinging generates the time-delay table between submatrix;
Specifically, the generation of time-delay table is determined by following formula between this step neutron array:
Wherein, f
sBe sample frequency, d is an array element distance, and i is the frequency position of handling in the bandwidth, and j is an accurate measurement zone interscan angle, and N is counting of FFT, M
0It is the array number in the submatrix.
Step 511): each submatrix of being divided is carried out the conventional wave beam of frequency domain form;
In this step, the submatrix data are carried out the conventional wave beam of frequency domain to be formed and step 502) to step 506) basically identical, difference is carry out step 505) processing the time, carry out timing and need multiply by an amount of delay simultaneously, this amount of delay is determined by the product of submatrix sequence number and submatrix time-delay table; In addition after the processing of each submatrix data time-the wave number data matrix all will store;
Specifically, in this step, frequency-wave number grid correction back data multiply by an amount of delay and are defined by following formula:
P
2(k，：)＝P(k，t(k，：)+N
P/2)，
P
3(k，：)＝P
2(k，：)*exp(j*pp*delay(k，：))
Wherein, pp is the submatrix sequence number, and k is a frequency, and P is the data that FFT obtains after the spatial domain zero padding, P
2Be data after frequency-wave number grid is proofreaied and correct, P
3Be that data multiply by the data behind the amount of delay, N after frequency-wave number grid is proofreaied and correct
PBe to count after the spatial domain zero padding, the n that matrix x is got in x (n :) expression is capable.
Step 512): in bigness scale angle on target scope, on each angle, to each submatrix of above-mentioned steps output time-the wave number data matrix, be reassembled as frequency-submatrix data matrix; Calculate the covariance matrix of the frequency-submatrix data matrix that obtains, obtain the covariance matrix of N_sub*N_sub; N_sub is the submatrix number; Calculate the inverse matrix of this covariance matrix;
513) be the broadband focusing MVDR algorithmic formula of complete " 1 " vector according to steering vector, on each angle in the bigness scale angular range, computing system power output.
In this step, the appearance of complete 1 steering vector is because of the time-delay of having considered in the conventional wave beam of aforesaid submatrix frequency domain forms between each array element, between each submatrix, so the steering vector of this moment need not considering latency issue, so be taken as complete 1 steering vector, mean that promptly sound wave arrives between each array element and do not have delay inequality.
Specifically, the steering vector in this step for the broadband focusing MVDR algorithmic formula of complete " 1 " vector is:
S=[1,1,1 ... 1], N_sub individual 1;
R wherein
-1Be step 512) inverse matrix of covariance matrix of output; PMVDR is an output power.
514) search step 513) output, greater than setting threshold, be the echo signal position, export the echo signal orientation of these accurate measurements.
The data very big to length can be taked the method for staging treating, and each segment data is carried out the above-mentioned quick sane high-precision direction finding that is used for linear array, again the testing result of each segmentation of accumulation output.
Fig. 6 illustrates a kind of existing sonar data that can use the method for the invention and handles and show the control system.Wherein, towing line array 102 and front end circuit 601 receive simulating signal from each nautical receiving set.Put before front end circuit 601 comprises, filtering and other conventional circuit.The simulating signal of each passage is input to A/D converter 602 and obtains digital signal.What come out from A/D converter 602 is multichannel digital data stream, the simulating signal that the data stream of each passage receives corresponding to a nautical receiving set.These data stream are input to microprocessor 603.Output information after microprocessor 603 is handled can be stored in data storage device 605, in disk storage device, or directly outputs to demonstration on the display device 606.
Because 602 outputs of the A/D converter among the present invention is multichannel data stream, therefore can adopt the microprocessor of multi-disc to come parallel processing.Can realize some other hardware device of Fig. 6 function, such as specialized hardware, can be used for replacing microprocessor 603 based on the integrated circuit of using (ASIC), DSP etc.
It should be noted that at last, above embodiment is only in order to describe technical scheme of the present invention rather than the present technique method is limited, the present invention can extend to other modification, variation, application and embodiment on using, and therefore thinks that all such modifications, variation, application, embodiment are in spirit of the present invention and teachings.
Claims (10)
1, a kind of high-precision direction finding method that is used for linear array comprises:
Step 10), to the space-time two-dimension signal that described linear array receives, carry out frequency domain tradition wave beam and form, in the wave beam territory, obtain the bigness scale angle on target;
Step 20), described linear array is divided into several submatrixs, in described bigness scale angle on target, the space-time two-dimension signal that each submatrix is received carries out frequency domain tradition wave beam respectively and forms and focus on and form frequency domain-wave number data;
Step 30), described frequency domain-wave number data are handled according to the undistorted method of broadband focused Minimum Variance in described bigness scale angle on target scope, obtain the echo signal orientation.
The process of claim 1 wherein that 2, step 10) further comprises:
Step 110), obtain the described space-time two-dimension signal frequency-domain data of each array element, described frequency domain data is carried out the spatial domain zero padding, and each frequency is done fast fourier transform and spectral shift on spatial domain, obtain frequency and wave beam corresponding data;
Step 120), at described each frequency, according to frequency-wave number grid described frequency and wave beam corresponding data are proofreaied and correct, obtain frequency-wave number data matrix;
Step 130), described frequency-wave number data matrix is done anti-fast fourier transform at frequency domain, and carry out wave beam and form and handle, obtain respectively to search for the output power on the orientation;
Step 140), determine that the signal greater than the output power in each orientation of setting threshold is the signal with described bigness scale angle on target.
3, the method for claim 2, wherein, step 110) also comprise: described space-time two-dimension signal is done fast fourier transform on time domain, obtain the frequency domain data of each array element.
4, the method for claim 2, wherein, step 110), described spatial domain zero padding can directly zero padding after former data, also can interpolation zero padding in former data.
5, the process of claim 1 wherein step 20) further comprise:
Step 210), linear array logically is divided into a plurality of submatrixs, use described each submatrix to receive space-time two-dimension signal;
Step 220), described space-time two-dimension signal is done fast fourier transform on time domain, obtain the frequency domain data of each array element, and be created on the bigness scale angular range and handle in the bandwidth time-delay table between the submatrix on each frequency component;
Step 230), to the frequency domain data of submatrix, zero padding on spatial domain, and do the fast fourier transform and the spectral shift of spatial domain on each frequency component in target frequency bands obtains frequency and wave beam corresponding data;
Step 240), on each frequency in handling bandwidth, described frequency and wave beam corresponding data are proofreaied and correct, obtain frequency-wave number data matrix, by anti-fast fourier transform, obtain time-the wave number data matrix.
6, the method for claim 5, wherein, step 210) in, the mode that linear array is logically divided comprises: submatrix is not overlapping, submatrix is overlapping and submatrix is intersected.
7, the method for claim 5, wherein, step 230), described spatial domain zero padding can directly zero padding after former data, also can interpolation zero padding in former data.
8, the method for claim 5, wherein, step 240) also comprise: on each frequency in handling bandwidth, described 2D signal is proofreaied and correct, obtained frequency-wave number data matrix according to time-delay table between frequency-wave number grid and described submatrix.
9, the method for claim 5, wherein, step 30) further comprise:
Step 310), in each angle of described bigness scale angle on target scope, described time-wave number data matrix is reassembled as the data matrix of processing bandwidth * submatrix number dimension;
Step 320), calculate the covariance matrix and the inverse matrix thereof of the data matrix of described processing bandwidth * submatrix number dimension, and be the undistorted algorithm of broadband focused Minimum Variance of complete " 1 " vector according to steering vector, obtain the interior output power of bigness scale angular range;
Step 330), search for described output power, will be defined as echo signal greater than the signal of setting threshold, export described echo signal orientation.
10, the process of claim 1 wherein,, it is divided into the short a plurality of signals of length for the long described space-time two-dimension signal that receives of length.
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| CN101051083B (en) * | 2006-04-07 | 2010-11-03 | 中国科学院声学研究所 | Secondary wave arrival direction estimation sonar signal processing method |
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