CN101470195B - Non-parameter type high-resolution beam forming method and apparatus - Google Patents

Abstract

The invention discloses a non-parameter type high resolution wave beam forming device, comprising: collecting underwater acoustic signal data via a receiving hydrophone array, dividing the acoustic signal data into the signals formed by a plurality of sub arrays; connecting a plurality of sub array wave beam forming devices with the receiving hydrophone array to form general wave beam from the signals; using a logic arithmetic unit to process logic calculation on the general wave beam to obtain an accumulated wave beam side lobe evaluation; using a wave beam synthesizer to process evolution on the accumulated wave beam side lobe evaluation to synthesize a high resolution wave beam. The non-parameter type high resolution wave beam forming device can counteract side lobe and strengthen main lobe, thus being suitable for actual application. The non-parameter type high resolution wave beam forming device can be applied real-timely without much additional computing resource.

Description

A kind of non-parameter type high-resolution wave beam forms method and apparatus

Technical field

The present invention relates to sonar array signal processing technology field, more specifically, the present invention relates to a kind of non-parameter type high-resolution wave beam and form method and apparatus.

Background technology

The formation of high-resolution wave beam is an important topic in the sonar array signal processing technology field, and so-called " high-resolution " is meant that mainly the wave beam formation method that is adopted has higher azimuth discrimination ability with respect to common time delay (phase shift) wave beam formation method.High-resolution wave beam formation method commonly used mainly can be divided into two kinds of parametric type and non-parameter types, wherein, the parametric type method is meant under the known condition of signal statistics priori can obtain high-resolution array signal processing method, as multiple signal classification method (MUSIC), based on the modulated parameter estimating method (ESPRIT) of invariable rotary technology.The non-parameter type method is meant under the condition of signal statistics priori the unknown still can obtain high-resolution array signal processing method, as Capon method (P.Stoica and R.Moses, Spectral Analysis ofSignals, Prentice hall, pp275-341,2005).

2000, people such as H.Schlieter are according to obtaining (Hyperbeam) technology of a kind of being called " super wave beam " with difference operation between two submatrixs, this technology belongs to a kind of method of non-parameter type preferably, wave beam formation method than traditional can obtain higher resolution performance and side lobe levels.(referring to: H.Schlieter, Method for the formation of radiated beams in directionfinder systems, US Patent 6021096, Feb.2000; H.Schlieter, Method forthree-dimensional beam forming in direction finding sys tems, US Patent6178140, Jan.2001; H.Schlieter, Passive sonar detection improvementby HyperBeam technique, UDT Europe 2006, Hamburg, Genmany).

Yet, because the space-time fluctuating of underwater acoustic channel, need the parametric type high-resolution wave beam formation method of the certain channel priori of definite grasp also inapplicable in the underwater sound of reality is used, therefore, general use was non-parameter type wave beam formation method during the actual underwater sound was used.And " super wave beam " carries out computing though method can obtain resolution performance and the side lobe levels higher than traditional wave beam formation method owing to it is divided into two subarrays with array, and be limited to the inhibition level of low order secondary lobe.

Summary of the invention

For overcoming in the prior art to the limited defective of the inhibition level of low order secondary lobe, realize high-resolution purpose by the linear weighted function computing is carried out in the wave beam output of a plurality of submatrixs, the invention provides a kind of non-parameter type high-resolution wave beam and form method and apparatus based on multiple submatrixes.

According to an aspect of the present invention, proposed a kind of non-parameter type high resolution wave beam forming, having comprised:

Receiving hydrophone battle array, a plurality of sub-array beam form device, logical-arithmetic unit and beam synthesizer;

Wherein, described receiving hydrophone linear array is used to gather the underwater sound signal data, and the underwater sound signal data are divided into the signal that plurality of sub arrays forms; Described a plurality of sub-array beam forms device and links to each other with described receiving hydrophone battle array respectively, is used for that described signal is carried out common wave beam and forms; Described logical-arithmetic unit is used for described common wave beam is carried out logical operation, obtains the accumulation beam side lobe and estimates; Described beam synthesizer is used for described accumulation beam side lobe is estimated to carry out extracting operation, synthetic high-resolution wave beam.

Described device also comprises the power operation device, is used for the accumulation beam side lobe of logical-arithmetic unit output is estimated to carry out power operation, and exports to described beam synthesizer, and wherein the power of power operation device gets 1 or 2 usually; Described beam synthesizer carries out corresponding extracting operation after the output of described power operation device is subtracted each other.

Wherein, described logical-arithmetic unit comprises: a plurality of subtracters, a plurality of absolute value device, a plurality of classification summer and weighted sum device;

Wherein, described a plurality of subtracters form device with one or more sub-array beam respectively and link to each other, and described common wave beam is pursued right subtraction, obtain the estimation to beam side lobe; Each links to each other with a corresponding subtracter in described a plurality of absolute value device, is used for the output of the subtracter that connected is taken absolute value; Described classification summer is connected with corresponding absolute value device respectively, is used for summation is sorted out in the output of absolute value device, and the accumulation beam side lobe that obtains classification is estimated; Described weighted sum device is connected with a plurality of classification summers, and the output of sorting out summer is weighted summation, and the accumulation beam side lobe that obtains weighting is estimated.

Wherein, described sub-array beam forms device and can use broadband time-delay wave beam formation or the formation of arrowband frequency domain wave beam.

Wherein, described subtracter at first subtracts each other the output that adjacent sub-array beam forms device, and the output that the sub-array beam of the submatrix of being separated by is formed device is subtracted each other then, and the output that forms device until the sub-array beam at array two ends is subtracted each other.

Wherein, to the output of the described subtracter summation of classifying, the wave beam to subarray forms result's summation to described classification summer simultaneously by the distance between the subarray.

Wherein, described receiving hydrophone battle array comprises receiving hydrophone linear array and receiving hydrophone planar array; For the signal that described receiving hydrophone planar array obtains, described subtracter and described classification summer need to carry out respectively in the horizontal and vertical directions computing.

According to a further aspect in the invention, proposed a kind of non-parameter type high-resolution wave beam formation method, having comprised:

Step 10), gather the underwater sound signal data, and the underwater sound signal data are divided into the signal that is formed by plurality of sub arrays;

Step 20), described signal being carried out common wave beam forms;

Step 30), be used for described common wave beam is carried out logical operation the estimation of acquisition accumulation beam side lobe;

Step 40), described accumulation beam side lobe is estimated to carry out extracting operation, synthetic high-resolution wave beam.

Wherein, step 20) in, described common wave beam forms and can use broadband time-delay wave beam to form or the formation of arrowband frequency domain wave beam.

Wherein, step 30) further comprise:

Step 310), described common wave beam is pursued right subtraction, obtain estimation to beam side lobe;

Step 320), the estimation of described beam side lobe is taken absolute value and sorts out summation, the accumulation beam side lobe that obtains classification is estimated;

Step 330), the accumulation beam side lobe of described classification is estimated to be weighted summation, the accumulation beam side lobe estimation of acquisition weighting.

Step 40) also comprises described accumulation beam side lobe is estimated to carry out power operation, carry out corresponding extracting operation again after the output of power operation is subtracted each other, synthetic high-resolution wave beam.

Wherein, step 310) also comprises at first adjacent described common wave beam is subtracted each other, then the described common wave beam of being separated by is subtracted each other, until subtracting each other at a distance of farthest described common wave beam.

Wherein, step 320) comprises also that by the distance between the subarray to the estimation of the described beam side lobe summation of classifying, the wave beam to subarray forms result's summation simultaneously.

The present invention can obtain higher resolution performance and side lobe levels by the linear weighted function computing between the multiple submatrixes row, and particularly the inhibition ability to the low order secondary lobe is stronger; Subtract each other the approximate evaluation of acquisition by multiple submatrixes wave beam territory to the target secondary lobe, thereby obtain to offset the effect of target secondary lobe and main lobe enhancing, owing to do not require the statistical property parameter priori of target known, therefore with respect to other parametric type high-resolution method, as MUSIC etc., this method is more suitable for practical application, is specially adapted to broadband application; The present invention is simple and practical, can real-time implementation and do not need to increase many extra computational resources.

Description of drawings

Fig. 1 illustrates devices in accordance with embodiments of the present invention and forms structured flowchart;

Fig. 2 is a horizontal array sub-array partition synoptic diagram;

Fig. 3 is a subarray logical process synoptic diagram;

Fig. 4 is the sub-array beam synoptic diagram;

Fig. 5 is the wave beam contrast synoptic diagram of different weights algorithm;

Fig. 6 is a planar array sub-array partition synoptic diagram;

Fig. 7 is planar array subarray classification summation synoptic diagram;

Fig. 8 a and b are respectively the design sketch that does not adopt and adopt the method for the invention.

Embodiment

Below in conjunction with the drawings and specific embodiments a kind of non-parameter type high-resolution wave beam provided by the invention being formed method and apparatus is described in detail.

Fig. 1 illustrates the composition structure of non-parameter type high resolution wave beam forming according to an embodiment of the invention, as shown in Figure 1, this device comprises that mainly receiving hydrophone linear array, sub-array beam form device, subtracter, absolute value device, classification summer, weighted sum device, power operation device, beam synthesizer.The receiving hydrophone linear array is used to gather the underwater sound signal data, and is divided into the linear array signal, makes the underwater sound signal data become plurality of sub arrays; The plurality of sub arrays Beam-former links to each other with the receiving hydrophone linear array respectively, is used for that the linear array signal of dividing is carried out common wave beam and forms; Several subtracters link to each other with one or more submatrix Beam-former respectively, are used for the wave beam formation result of each subarray is pursued right subtraction, to obtain the estimation to beam side lobe; Several absolute value devices link to each other with a corresponding subtracter respectively, are used for the output of the subtracter that connected is taken absolute value; The classification summer is connected with corresponding absolute value device respectively, is used for the result of absolute value device is sorted out summation, estimates with the accumulation beam side lobe that obtains classification; The weighted sum device is connected with a plurality of classification summers, is used for the output of sorting out summer is weighted summation, and the weighted sum device adopts two cover weighting coefficients, wherein:

Weight coefficient I: $w_j=\frac{2(M-j)}{M(M-1)},$ And have $\underset{j=1}{\overset{M-1}{\mathrm{\Σ}}}{w}_j=1;$

Weight coefficient II: $w_j=\frac{2(M-j)-1}{{(M-1)}^2},$ And have $\underset{j=1}{\overset{M-1}{\mathrm{\Σ}}}{w}_j=1;$ Wherein, M is for dividing the number of subarray; Above subtracter, absolute value device, classification summer, weighted sum device can be collectively referred to as logical-arithmetic unit, and by the operation of above logical-arithmetic unit, the accumulation beam side lobe that obtains weighting is estimated.The power operation device is used for the absolute value of each sub-array beam output and carries out power operation, and is used for power operation is carried out in the output of weighted sum device, and the power that the power operation device is got generally gets 1 or 2; Beam synthesizer links to each other with the power operation device, is used for the result of power operation device is subtracted each other the back, carries out corresponding extracting operation again, and the result that synthetic high-resolution wave beam forms exports.

Fig. 2 illustrates the division signal of horizontal array subarray, and as shown in the figure, whole battle array is divided into M subarray, and the array element number of each subarray is N, and sub-array beam forms device and can use broadband time-delay wave beam formation or arrowband frequency domain wave beam to form.

Fig. 3 illustrates the subarray operational scheme; As shown in the figure, in service at the subarray subtraction device, at first adjacent sub-array beam forms the result and subtracts each other, the wave beam of the submatrix of being separated by again forms the result and subtracts each other, the sub-array beam of dividing until the array two ends forms the result and subtracts each other, the wave beam of each subarray formation result subtracts each other in twos like this, and the result that will subtract each other sends into the absolute value device respectively and carries out subsequent calculations.In addition, the classification summation is sued for peace by the distance classification between the subarray.

Fig. 4 is the sub-array beam synoptic diagram; As shown in the figure, the received signal of supposing i array element of array is:

s _i(t)＝Acos{ω[t+(i-1)d?sinθ/c]}

Wherein, A is the received signal amplitude, and ω is the signal angular frequency, and d is an array element distance, and c is the velocity of sound under water, and θ is a signal incident direction, and t represents the sampling time.If establish:

Then:

For the received signal of i+N-1 array element, then have:

According to formula (1) and formula (2), for first subarray, the result that its wave beam forms can be expressed as:

In like manner, for M subarray, the result that its wave beam forms can be expressed as:

In the technique scheme, in the described step (2), it is that at first adjacent sub-array beam formation result subtracts each other that subarray in the present embodiment subtracts each other principle, the wave beam of the submatrix of being separated by again forms the result and subtracts each other, the sub-array beam of dividing until the array two ends forms the result and subtracts each other, the wave beam of each subarray formation result subtracts each other in twos like this, and as shown in Figure 3, its result can be expressed as:

In the technique scheme, in the described step (3), the principle of classification summation is by the distance between the subarray wave beam of subarray to be formed to subtract each other result's summation of classifying in the present embodiment, simultaneously the wave beam of subarray is formed the result and sue for peace, as shown in Figure 3, that is:

${\mathrm{\Ω}}_0=\underset{m=1}{\overset{M}{\mathrm{\Σ}}}\left|b_m\left(t\right)\right|---\left(8\right)$

${\mathrm{\Ω}}_1=\underset{m=1}{\overset{M-1}{\mathrm{\Σ}}}\left|{\mathrm{\Δ}}_1^m\left(t\right)\right|---\left(9\right)$

${\mathrm{\Ω}}_2=\underset{m=1}{\overset{M-2}{\mathrm{\Σ}}}\left|{\mathrm{\Δ}}_2^m\left(t\right)\right|---\left(10\right)$

Ω _M-1＝Δ _M-1(t)| (11)

As shown in Figure 4, during group array number M=3, the figure as a result of classification summer output, wherein Fig. 4 a represents single sub-array beam figure, and Fig. 4 b represents that adjacent submatrix subtracts each other beam pattern, and Fig. 4 c submatrix of representing to be separated by is subtracted each other beam pattern.

The power that the power operation device is got time p generally gets 1 or 2, and present embodiment obtains final result by following formula:

$D\left(\mathrm{\θ}\right)={|{\mathrm{\Ω}}_0^p-\underset{j=1}{\overset{M-1}{\mathrm{\Σ}}}{w}_j{\mathrm{\Ω}}_j^p|}^{1/p}---\left(12\right)$

The weighted sum device adopts two cover weighting coefficients in the present embodiment, wherein: weight coefficient I:

$w_j=\frac{2(M-j)}{M(M-1)},$ And have $\underset{j=1}{\overset{M-1}{\mathrm{\Σ}}}{w}_j=1---\left(13\right)$

Weight coefficient II:

$w_j=\frac{2(M-j)-1}{{(M-1)}^2},$ And have $\underset{j=1}{\overset{M-1}{\mathrm{\Σ}}}{w}_j=1---\left(14\right)$

As shown in Figure 5, group array number M=3, during subarray array number N=10, the figure as a result of system's output, wave beam output comparison diagram when wherein Fig. 5 a represents right to use coefficient I, wave beam output comparison diagram when Fig. 5 b represents right to use coefficient II.

In according to another embodiment of the invention, the present invention proposes a kind of non-parameter type high-resolution wave beam formation method, and with reference to figure 2,3,6,7 and 8, present embodiment can be applied to linear array and planar array, at this is that example explanation high-resolution wave beam forms with the planar array, and described method comprises:

(1) the receiving hydrophone planar array is gathered underwater sound data, be divided into plurality of sub arrays after, form the wave beam that device carries out subarray by sub-array beam respectively and form;

(2) result who forms according to the wave beam of the subarray that obtains pursue right subtraction by subtracter to the result, with the estimation of acquisition to beam side lobe;

(3) result of subtracter output delivers to the classification summer and sorts out summation after the absolute value device takes absolute value, and estimates with the accumulation beam side lobe that obtains classification;

(4) after the classification summation, be weighted summation by the weighted sum device again, and deliver to the power operation device, estimate with the accumulation beam side lobe that obtains weighting;

(5) by the power operation device to the absolute value of each sub-array beam output and and the output of weighted sum device carry out power operation, and deliver to beam synthesizer, it is synthetic to carry out final wave beam.

(6) beam synthesizer subtracts each other the back, carries out corresponding extracting operation again the result of power operation device, and the result that finally synthetic high-resolution wave beam forms exports.

The realization that persons of ordinary skill in the art may appreciate that said method does not rely on equipment specific in the step and device, can use other similar devices and the device of calculation function in the performing step yet.

In the technique scheme, the submatrix in the described step (1) is divided as shown in Figure 6, and whole battle array is divided into M*N subarray, and the array element number of each subarray is I*J.It is that broadband time-delay wave beam forms or arrowband frequency domain wave beam forms that sub-array beam forms the used method of device.Method is based on following principle:

Suppose the i of planar array, the received signal of j array element is:

s _i，j(t)＝Acos{ω[t+(i-1)d _x?sinθcosφ/c+(j-1)d _y?sinθsinφ/c]}(15)

Wherein, A is the received signal amplitude, and ω is the signal angular frequency, and d is an array element distance, and c is the velocity of sound under water, and θ is a signal vertical incidence direction, and φ is the signal level incident direction, and t represents the sampling time, down with.If establish:

Then

According to formula (1) and formula (2), for subarray (1,1), the result that its wave beam forms can be expressed as:

In like manner, for subarray (1, n), the result that its wave beam forms can be expressed as:

${\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="S200810147305XE00051.png,S200810147305XE00052.png"\; state="\{\{state\}\}">b</figure-callout>}}_{1,n}\left(t\right)=$

For subarray (m, 1), the result that its wave beam forms can be expressed as:

$b_{m,1}\left(t\right)=$

For subarray (m, n), the result that its wave beam forms can be expressed as:

$b_{m,n}\left(t\right)=$

In the technique scheme, in the described step (2), the principle that subarray in the present embodiment subtracts each other is: at first, in the horizontal direction, adjacent sub-array beam forms the result and subtracts each other, the wave beam of the submatrix of being separated by again forms the result and subtracts each other, and the sub-array beam of dividing until the array two ends forms the result and subtracts each other, and the wave beam formation result of each horizontal subarray is subtracted each other in twos; Secondly, in vertical direction, adjacent sub-array beam forms the result and subtracts each other, and the wave beam of the submatrix of being separated by again forms the result and subtracts each other, the sub-array beam of dividing until the array two ends forms the result and subtracts each other, and the wave beam formation result of each vertical subarray is subtracted each other in twos.

Subarray on the horizontal direction (1,1) to (1, N) wave beam forms and subtracts each other the result and can be expressed as:

${\mathrm{\&Delta;h}}_{N-1}^1\left(t\right)={\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="S200810147305XE00051.png,S200810147305XE00052.png"\; state="\{\{state\}\}">b</figure-callout>}}_{\mathrm{1,1}}\left(t\right)-{\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="S200810147305XE00051.png,S200810147305XE00052.png"\; state="\{\{state\}\}">b</figure-callout>}}_{1,N}\left(t\right)$

In like manner, subarray (m, 1) to (m, N) wave beam form and subtract each other the result and can be expressed as:

${\mathrm{\&Delta;<figure-callout\; id="1"\; label="h"\; filenames="S200810147305XE00051.png,S200810147305XE00052.png"\; state="\{\{state\}\}">h</figure-callout>}}_{1,n}^m\left(t\right)=b_{m,n}\left(t\right)-b_{m,n+1}\left(t\right)$

${\mathrm{\&Delta;h}}_{N-1}^m\left(t\right)=b_{m,1}\left(t\right)-b_{m,N}\left(t\right)$

Subarray on the vertical direction (1,1) subtracts each other the result to the wave beam formation of (M, 1) and can be expressed as:

${\mathrm{\&Delta;v}}_{M-1}^1\left(t\right)={\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="S200810147305XE00051.png,S200810147305XE00052.png"\; state="\{\{state\}\}">b</figure-callout>}}_{\mathrm{1,1}}\left(t\right)-b_{M,1}\left(t\right)$

In like manner, subarray (1, n) arrive (M, wave beam formation n) is subtracted each other the result and can be expressed as:

${\mathrm{\&Delta;<figure-callout\; id="1"\; label="v"\; filenames="S200810147305XE00051.png,S200810147305XE00052.png"\; state="\{\{state\}\}">v</figure-callout>}}_{1,m}^n\left(t\right)=b_{m,n}\left(t\right)-{\mathrm{<figure-callout\; id="1"\; label="b\; m\; +"\; filenames="S200810147305XE00051.png,S200810147305XE00052.png"\; state="\{\{state\}\}">b</figure-callout>}}_{m+}\left(t\right)$

${\mathrm{\&Delta;v}}_{M-1}^n\left(t\right)={\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="S200810147305XE00051.png,S200810147305XE00052.png"\; state="\{\{state\}\}">b</figure-callout>}}_{1,n}\left(t\right)-b_{M,n}\left(t\right)$

In the technique scheme, in the described step (3), the principle of classification summation is respectively in the horizontal and vertical directions in the present embodiment, by the distance between the subarray wave beam of subarray is formed and to subtract each other result's summation of classifying, wave beam to subarray forms result's summation simultaneously, as shown in Figure 3, that is:

Have in the horizontal direction:

${\mathrm{\&Omega;}}_{0,m}^h=\underset{n=1}{\overset{N}{\mathrm{\&Sigma;}}}\left|b_{m,n}\left(t\right)\right|---\left(29\right)$

${\mathrm{\&Omega;}}_{1,m}^h=\underset{n=1}{\overset{N-1}{\mathrm{\&Sigma;}}}\left|{\mathrm{\&Delta;<figure-callout\; id="1"\; label="h"\; filenames="S200810147305XE00051.png,S200810147305XE00052.png"\; state="\{\{state\}\}">h</figure-callout>}}_{1,n}^m\left(t\right)\right|---\left(30\right)$

${\mathrm{\&Omega;}}_{N-1,m}^h=\left|{\mathrm{\&Delta;h}}_{N-1}^m\left(t\right)\right|---\left(31\right)$

Have in vertical direction:

${\mathrm{\&Omega;}}_{0,n}^v=\underset{m=1}{\overset{M}{\mathrm{\&Sigma;}}}\left|b_{m,n}\left(t\right)\right|---\left(32\right)$

${\mathrm{\&Omega;}}_{1,n}^v=\underset{m=1}{\overset{M-1}{\mathrm{\&Sigma;}}}\left|{\mathrm{\&Delta;<figure-callout\; id="1"\; label="v"\; filenames="S200810147305XE00051.png,S200810147305XE00052.png"\; state="\{\{state\}\}">v</figure-callout>}}_{1,m}^n\left(t\right)\right|---\left(33\right)$

${\mathrm{\&Omega;}}_{M-1,n}^v=\left|{\mathrm{\&Delta;v}}_{M-1}^n\left(t\right)\right|---\left(34\right)$

In the technique scheme, in the described step (4), the power that the power operation device is got time p generally gets 1 or 2, and present embodiment obtains final result by following formula:

$D_h(\mathrm{\&theta;},\mathrm{\&phi;})=\frac{1}{M}\underset{m=1}{\overset{M}{\mathrm{\&Sigma;}}}{|{\left({\mathrm{\&Omega;}}_{0,m}^h\right)}^p-\underset{j=1}{\overset{N-1}{\mathrm{\&Sigma;}}}{w}_j{\left({\mathrm{\&Omega;}}_{j,m}^h\right)}^p|}^{1/p}$

$D_v(\mathrm{\&theta;},\mathrm{\&phi;})=\frac{1}{N}\underset{n=1}{\overset{N}{\mathrm{\&Sigma;}}}{|{\left({\mathrm{\&Omega;}}_{0,n}^v\right)}^p-\underset{j=1}{\overset{M-1}{\mathrm{\&Sigma;}}}{w}_j{\left({\mathrm{\&Omega;}}_{j,n}\right)}^p|}^{1/p}$

D(θ，φ)＝D _h(θ，φ)*D _v(θ，φ)

The weighted sum device adopts two cover weighting coefficients in the present embodiment, wherein:

Weight coefficient I:

$w_j=\frac{2(K-j)}{K(K-1)},$ And have $\underset{j=1}{\overset{K-1}{\mathrm{\&Sigma;}}}{w}_j=1,$ K＝M，N

Weight coefficient II:

$w_j=\frac{2(K-j)-1}{{(K-1)}^2},$ And have $\underset{j=1}{\overset{K-1}{\mathrm{\&Sigma;}}}{w}_j=1,$ K＝M，N

Present embodiment is by wave beam output the carrying out linear weighted function computing to a plurality of submatrixs, improve the azimuth discrimination ability and the target detection ability of ARRAY PROCESSING, try hard under the condition that does not increase array element number and array length, obtain the beam angle narrower, lower side lobe levels, higher inhibition ability and more tolerant ARRAY PROCESSING ability than traditional wave beam formation method by inventing described method.

Fig. 8 has described group array number M=N=3, during array number I=J=10, and the effect contrast figure that algorithm is used on planar array, wherein Fig. 8 a represents not adopt the figure as a result of the described method of invention, and Fig. 8 b represents to adopt the figure as a result of the described method of invention.

Realization of the present invention can bring plurality of advantages, comprising: the first, and the target secondary lobe similarity of utilizing subarray to estimate suppresses the target secondary lobe, strengthens the target main lobe; The second, under the condition that does not need to be grasped the target prior imformation, can improve the spatial manipulation gain and the spatial resolving power of system; The 3rd, method is a non-parameter type data-driven algorithm, is suitable for the broadband and handles; The 4th, be applicable to passive sonar systems, more be applicable to the active sonar system; The 5th, be applicable to the linear array system, also be applicable to the planar array system.

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 (11)

1. non-parameter type high resolution wave beam forming comprises:

Receiving hydrophone battle array, a plurality of sub-array beam form device, logical-arithmetic unit and beam synthesizer;

Wherein, described receiving hydrophone battle array is used to gather the underwater sound signal data, and the underwater sound signal data are divided into the signal that plurality of sub arrays forms; Described a plurality of sub-array beam forms device and links to each other with described receiving hydrophone battle array respectively, is used for that described signal is carried out common wave beam and forms; Described logical-arithmetic unit is used for described common wave beam is carried out logical operation, obtaining the accumulation beam side lobe estimates, described logical-arithmetic unit comprises: a plurality of subtracters, a plurality of absolute value device, a plurality of classification summer and weighted sum device, described a plurality of subtracter forms device with one or more sub-array beam respectively and links to each other, described common wave beam is pursued right subtraction, obtain estimation beam side lobe; Each links to each other with a corresponding subtracter in described a plurality of absolute value device, is used for the output of the subtracter that connected is taken absolute value; Described classification summer is connected with corresponding absolute value device respectively, is used for summation is sorted out in the output of absolute value device, and the accumulation beam side lobe that obtains classification is estimated; Described weighted sum device is connected with a plurality of classification summers, and the output of sorting out summer is weighted summation, and the accumulation beam side lobe that obtains weighting is estimated; Described beam synthesizer is used for described accumulation beam side lobe is estimated to carry out extracting operation, synthetic high-resolution wave beam.

2. the device of claim 1 also comprises the power operation device, is used for the accumulation beam side lobe of logical-arithmetic unit output is estimated to carry out power operation, and exports to described beam synthesizer, and wherein the power of power operation device gets 1 or 2 usually; Described beam synthesizer carries out corresponding extracting operation after the output of described power operation device is subtracted each other.

3. the device of claim 1, wherein, described sub-array beam forms device and can use broadband time-delay wave beam to form or arrowband frequency domain wave beam forms.

4. the device of claim 1, wherein, described subtracter at first subtracts each other the output that adjacent sub-array beam forms device, and the output that the sub-array beam of the submatrix of being separated by is formed device is subtracted each other then, and the output that forms device until the sub-array beam at array two ends is subtracted each other.

5. the device of claim 1, wherein, to the output of the described subtracter summation of classifying, the wave beam to subarray forms result's summation to described classification summer simultaneously by the distance between the subarray.

6. the device of claim 1, wherein, described receiving hydrophone battle array comprises receiving hydrophone linear array and receiving hydrophone planar array; For the signal that described receiving hydrophone planar array obtains, described subtracter and described classification summer need to carry out respectively in the horizontal and vertical directions computing.

7. non-parameter type high-resolution wave beam formation method comprises:

Step 10), gather the underwater sound signal data, and the underwater sound signal data are divided into the signal that is formed by plurality of sub arrays;

Step 20), described signal being carried out common wave beam forms;

Step 30), be used for described common wave beam is carried out logical operation, obtaining the accumulation beam side lobe estimates, further comprise step 310) described common wave beam is pursued right subtraction, acquisition is to the estimation of beam side lobe, step 320) estimation of described beam side lobe is taken absolute value and sort out summation, the accumulation beam side lobe that obtains classification is estimated step 330) the accumulation beam side lobe of described classification is estimated to be weighted summation, the accumulation beam side lobe that obtains weighting is estimated;

Step 40), described accumulation beam side lobe is estimated to carry out extracting operation, synthetic high-resolution wave beam.

8. the method for claim 7, wherein, step 20), described common wave beam forms and can use broadband time-delay wave beam to form or arrowband frequency domain wave beam forms.

9. the method for claim 7, step 40) also comprise described accumulation beam side lobe is estimated to carry out power operation, after being subtracted each other, the output of power operation carries out corresponding extracting operation again, synthetic high-resolution wave beam.

10. the method for claim 7, wherein, step 310) also comprise: at first adjacent described common wave beam is subtracted each other, then the described common wave beam of being separated by is subtracted each other, until subtracting each other at a distance of farthest described common wave beam.

11. the method for claim 7, wherein, step 320) comprises also that by the distance between the subarray to the estimation of the described beam side lobe summation of classifying, the wave beam to subarray forms result's summation simultaneously.

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