CN103197318B - Time delay estimation method based on the Pattern delay coding underwater acoustic positioning - Google Patents
Time delay estimation method based on the Pattern delay coding underwater acoustic positioning Download PDFInfo
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- CN103197318B CN103197318B CN201310086162.7A CN201310086162A CN103197318B CN 103197318 B CN103197318 B CN 103197318B CN 201310086162 A CN201310086162 A CN 201310086162A CN 103197318 B CN103197318 B CN 103197318B
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Abstract
The invention relates to a time delay estimation method based on the Pattern delay coding underwater acoustic positioning. The method includes: determining corresponding relations of a signal form sending a Pattern signal, pulse time delay inequality and a location information code; establishing a duplicate signal corresponding to relevant operation; respectively intercepting a Pattern pulse in a received signal, and first time relevant operation is performed for a intercepted signal and the duplicate signal; a first time relevant operation result and a detection threshold value are compared, if in the first time relevant operation result, only one relevant peak value exceeds the detection threshold value, location information of a transponder is calculated according to the corresponding relations of time delay inequality of PLFM pulse relevant peaks and NLFM pulse relevant peaks, the pulse time delay inequality and the location information code, and otherwise, mutual relevant operation is performed for a first time relevant result of PLFM pulses and a first time relevant result of NLFM pulses, a largest peak value is found in the mutual relevant operation, and the location information of the transponder is calculated according to the largest peak value.
Description
Technical field
The present invention relates to sonar field, particularly a kind of delay time estimation method based on Pattern time delay coding underwateracoustic location.
Background technology
In sonar and field of radar, often need accurately to obtain the position of transponder pulse signal, delay time estimation method is a kind of method for obtaining transponder pulse signal location.Common delay time estimation method has adopted correlation detection technology, utilizes in time matched filter to carry out to received signal pulse compression, then adjudicates peak through correlation peak detection, is the position of transponder pulse signal.In ultra-short baseline location, often utilize Pattern pattern time-delay coding between pulse signal to transmit the positional information of transponder, can for example different time delay differences represents the depth value of transponder, therefore accurately judge that the position of pulse becomes the key of correct acquisition depth value.
The temporal resolution of coherent detection is decided by the bandwidth of transmitted waveform, and signal band is wider, and temporal resolution and distance accuracy are higher.But everything is to be all based upon under correct peak value testing conditions, only have the real time delay of correct peak value testing result guarantee to estimate.But, in actual propagation channel, also include the scattering wave from other interfaces, and by after pulse compression, they are the relevant peaks that is presented on diverse location too.On the other hand, the signal to noise ratio (S/N ratio) that receives echo in target detection is often under compared with low condition, and the relevant peaks after pulse compression is all submerged under noise background even, the time Estimate that these all can lead to errors, not only cannot ensure distance accuracy, also may directly obtain wrong peak value testing result.
Summary of the invention
The object of the invention is to overcome delay time estimation method of the prior art and cannot ensure measuring accuracy, the defect that easily makes a mistake and detect, thus the delay time estimation method that expense is little, accuracy is high is provided.
To achieve these goals, the invention provides a kind of delay time estimation method based on Pattern time delay coding underwateracoustic location, comprising:
Step 1), determine the coding corresponding relation of the poor and positional information of signal form, the impulse time delay of transmitting Pattern signal;
Step 2), according to the definite transmitting Pattern pulse signal form of step 1) build the replica signal of corresponding related operation;
Step 3), intercepting respectively Pattern pulse receiving in signal, by obtained intercept signal and step 2) replica signal that obtains carries out respectively related operation for the first time;
Result and a detection threshold value of step 4), related operation for the first time that step 3) is obtained compare, if exceed described detection threshold value in the result of described related operation for the first time and only have a correlation peak, and coding corresponding relation positional information poor according to determined impulse time delay in the pulse correlation peak of PLFM and the peak-to-peak delay inequality of pulse correlation of NLFM and step 1) calculates the positional information of transponder, otherwise carries out next step;
Step 5), the correlated results for the first time of PLFM pulse and NLFM pulse is carried out to computing cross-correlation, in the result of described computing cross-correlation, find peak-peak, calculate the positional information of transponder according to this maximum value position.
In technique scheme, in described step 1), determine the signal form of transmitting Pattern signal according to the Time delay Estimation Accuracy of the operating distance of transponder and time delay coding; The coding corresponding relation of and positional information poor according to the Depth determination impulse time delay of transponder.
In technique scheme, described pulse signal form comprises centre frequency, pulse length T and the bandwidth B of LFM signal.
In technique scheme, in described step 3), intercept Pattern pulse in reception signal time, in the signal after intercepting, must comprise the pulse of pattern time delay coding.
The invention has the advantages that:
1, the present invention can accurately select the position of Pattern pattern time-delay coding relevant peaks under the condition of many ways, and the wrong time delay of avoiding false peak choosing to bring is estimated;
2, compared with conventional algorithm, the present invention can be compared with carrying out peak value detection under Low SNR, the channel architecture of correlation computations reflection is for the first time carried out to pulse compression for the second time, and the time delay that is conducive to accurate Pattern delay inequality is estimated, detects performance thereby improve;
3, the cost that the present invention pays is only to increase a related operation, without any the expense on hardware, by selecting Reasonable Parameters can be controlled in the acceptable scope of system.
Brief description of the drawings
Fig. 1 .a is the code element structural representation of Pattern time delay coding;
Fig. 1 .b is the schematic diagram of the received signal of transponder;
Fig. 2 is the process flow diagram of the inventive method;
Fig. 3 .a is the original waveform figure that receives data in an embodiment;
Fig. 3 .b is the schematic diagram of correlated results for the first time of positive frequency modulation after intercepting in an embodiment;
Fig. 3 .c is the schematic diagram of correlated results for the first time of negative frequency modulation after intercepting in an embodiment;
Fig. 3 .d is the schematic diagram of secondary correlated results in an embodiment;
Fig. 4 .a is the original waveform figure that receives data in another embodiment;
Fig. 4 .b is the schematic diagram of correlated results for the first time of positive frequency modulation after intercepting in another embodiment;
Fig. 4 .c is the schematic diagram of correlated results for the first time of negative frequency modulation after intercepting in another embodiment;
Fig. 4 .d is the schematic diagram of secondary correlated results in another embodiment.
Embodiment
Now the invention will be further described by reference to the accompanying drawings.
For the ease of understanding, before delay time estimation method of the present invention is described, first the pulse structure of Pattern time delay coding related in the method is described.
Fig. 1 is the pulse structure schematic diagram of described Pattern time delay coding.In Fig. 1 .a, provide a group code meta structure, comprised L the Pattern code that correlativity is good, wherein τ
di(i=1,2,3 ...) represent time delay difference, represent that Pattern code appears at the position of code element window; T
prepresent Pattern code pulsewidth; T
0represent symbol width; T
cthe presentation code time, T
c=T
0-T
p.Each code element dutycycle of PTDS system is η=T
p/ T
0, its value is less than 1.In ultra-short baseline, the depth information of transponder is obtained by pressure transducer, and depth information is sent to calling terminal by the mode of encoding by time delay in answer signal based on PTDS communication system.Transmitted signal is made up of three parts, respectively synchronizing pulse, positive frequency modulation chirp pulse signal (PLFM), negative frequency modulation chirp pulse signal (NLFM), the depth information that wherein time delay spacing between PLFM, NLFM pulse has comprised transponder, as shown in Fig. 1 .b.Therefore, can ask for the time delay spacing between PLFM, NLFM pulse by delay time estimation method of the present invention, and then obtain the depth information of transponder.
Below in conjunction with a specific embodiment, and in conjunction with Fig. 2, delay time estimation method of the present invention is illustrated.
In one embodiment, transponder is apart from ultra-short baseline 600m, hangs the degree of depth for 20m under water, and ultra-short baseline is operated in 8m under water, and nautical receiving set receives corresponding signal, and according to received signal, delay time estimation method of the present invention comprises the following steps:
Step 1), determine the coding corresponding relation of the poor and positional information of signal form, the impulse time delay of transmitting Pattern signal according to system index.
In this step, pulse signal form refers to centre frequency, pulse length T and the bandwidth B of LFM signal, and determining of pulse signal form is relevant with the Time delay Estimation Accuracy of time delay coding with the operating distance of transponder.Centre frequency and pulse length T relate to the operating distance of transponder, and centre frequency is lower and T is longer, and distance is far away; And signal bandwidth more long time delay precision is higher.Those skilled in the art will know that, the coded message of the corresponding transponder degree of depth of delay inequality between pulse, if transponder is under different degree of depth environment in practical work process, between pulse, the coding corresponding relation of delay inequality and positional information (being mainly the degree of depth of transponder) will be different so.Therefore, need in this step to determine according to the system index relevant with testing environment the coding corresponding relation etc. of the poor and positional information of signal form, the impulse time delay of Pattern signal.
Step 2), according to the definite transmitting Pattern pulse signal form of step 1) build the replica signal of corresponding related operation.
Step 3), intercepting respectively Pattern pulse receiving in signal, by obtained intercept signal and step 2) replica signal that obtains carries out respectively related operation for the first time.
Intercept Pattern pulse in reception signal time, should ensure that the signal after intercepting must comprise the pulse of pattern time delay coding.
Step 4), by result and a detection threshold value of related operation compare for the first time, if exceed for the first time described detection threshold value in related operation result and only have a correlation peak, calculate the positional information of transponder according to the pulse correlation peak of PLFM and the peak-to-peak delay inequality of pulse correlation of NLFM, otherwise carry out next step;
Step 5), the correlated results for the first time of PLFM pulse and NLFM pulse is carried out to computing cross-correlation, in the result of computing cross-correlation for the second time, find peak-peak, calculate the positional information of transponder according to this maximum value position.
From finding out delay time estimation method of the present invention, because a correlated results of transmitting Pattern pulse has been described the transport function of propagation channel from energy, be the multipath structure in propagation channel, and multiple pulses must have the correlated results of same structure within certain correlation time; Carry out secondary correlation computations, the energy that can further add up obtains secondary relevant peaks again, and the position of correlation peak has also represented the time delay estimation value between Pattern coded pulse, thereby can accurately calculate the positional information of transponder.
Fig. 3 is the schematic diagram to adopting the result that delay time estimation method of the present invention obtains in above-described embodiment.Wherein, Fig. 3 .a is the time domain waveform that receives signal, former and later two pulse signals are respectively positive and negative frequency modulation on pulses, can find out that receiving signal has higher signal to noise ratio (S/N ratio), Fig. 3 .b, Fig. 3 .c are respectively positive and negative frequency modulation and carry out the result after a correlations with transmitting copy, from figure, can clearly find out, have two relevant peaks 400 front and back, can infer this by the degree of depth of transponder is the echo causing due to water-reflected, this has caused difficulty to the position that judges relevant peaks, estimates to such an extent as to cannot obtain time delay accurately.Fig. 3 .d is the result that secondary is relevant, can find out the cumulative rear obvious relevant peaks that obtains of multipath energy, and the time delay that can complete exactly successively pattern time-delay coding is estimated.
Fig. 4 is the schematic diagram of delay time estimation method of the present invention for the next embodiment of Low SNR.Along with transponder is more and more far away apart from ultra-short baseline, can find out that, compared with Fig. 3 .a, the signal to noise ratio (S/N ratio) that receives signal in Fig. 4 .a has declined a lot.Simultaneously in Fig. 4 .b, Fig. 4 .c positive and negative frequency modulation on pulse for the first time correlated results also can find out, the relevant peaks of direct wave is even lower than the relevant peaks of boundary reflection.Now no matter the peak of how complicated choosing mechanism, also be to be difficult to complete exactly relevant peaks differentiate, but in the result of secondary after relevant, still can see clear and definite relevant peaks in Fig. 4 .d, this also makes peak value detect to have become simply, and then the time delay that completes exactly pattern time-delay coding is estimated.
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described.Although the present invention is had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, technical scheme of the present invention is modified or is equal to replacement, do not depart from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (4)
1. the delay time estimation method based on Pattern time delay coding underwateracoustic location, comprising:
Step 1), determine the coding corresponding relation of the poor and positional information of signal form, the impulse time delay of transmitting Pattern signal;
Step 2), according to step 1) definite transmitting Pattern pulse signal form build the replica signal of corresponding related operation;
Step 3), intercept respectively Pattern pulse receiving in signal, by obtained intercept signal and step 2) replica signal that obtains carries out respectively related operation for the first time;
Step 4), by step 3) result and a detection threshold value of the related operation for the first time that obtains compare, if exceed described detection threshold value in the result of described related operation for the first time and only have a correlation peak, according to the pulse correlation peak of PLFM and the peak-to-peak delay inequality of pulse correlation and the step 1 of NLFM) in poor and coding corresponding relation positional information of determined impulse time delay calculate the positional information of transponder, otherwise carry out next step;
Step 5), the correlated results for the first time of PLFM pulse and NLFM pulse is carried out to computing cross-correlation, in the result of described computing cross-correlation, find peak-peak, calculate the positional information of transponder according to this maximum value position.
2. the delay time estimation method based on Pattern time delay coding underwateracoustic location according to claim 1, it is characterized in that, in described step 1) in, determine according to the Time delay Estimation Accuracy of the operating distance of transponder and time delay coding the signal form of launching Pattern signal; The coding corresponding relation of and positional information poor according to the Depth determination impulse time delay of transponder.
3. the delay time estimation method based on Pattern time delay coding underwateracoustic location according to claim 2, is characterized in that, described pulse signal form comprises centre frequency, pulse length T and the bandwidth B of LFM signal.
4. the delay time estimation method based on Pattern time delay coding underwateracoustic location according to claim 1, it is characterized in that, in described step 3) in, intercept Pattern pulse in reception signal time, in the signal after intercepting, must comprise the pulse of Pattern time delay coding.
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| CN103777177B (en) * | 2013-11-08 | 2018-02-02 | 中国船舶重工集团公司七五○试验场 | A kind of ultra-short baseline submarine target localization method based on broadband signal time delay detection |
| CN104569918B (en) * | 2014-12-29 | 2018-08-07 | 中国船舶重工集团公司七五○试验场 | A kind of steady Underwater Acoustic Telemetry beacon |
| CN106162791B (en) * | 2015-03-31 | 2019-08-09 | 日本电气株式会社 | Method and node in sensor network |
| CN105007139A (en) * | 2015-08-04 | 2015-10-28 | 天津大学 | Time-delay-inequality coding communication system communication method |
| CN105429720B (en) * | 2015-11-25 | 2017-09-29 | 桂林航天工业学院 | The Time Delay Estimation Based reconstructed based on EMD |
| CN108344974B (en) * | 2017-09-29 | 2021-12-31 | 中山大学 | Sound wave signal coding method for sound wave indoor positioning system |
| CN111352099B (en) * | 2018-12-20 | 2022-05-10 | 宁波大学科学技术学院 | Time delay estimation method based on cross-correlation signal phase decomposition |
| CN110426711B (en) * | 2019-07-29 | 2021-06-08 | 中国科学院声学研究所 | Time delay estimation method and system based on polarity zero detection |
| CN110488253B (en) * | 2019-09-05 | 2022-08-05 | 西北工业大学 | Multi-path delay difference estimation method based on cross-correlation function delay summation |
| CN112526458B (en) * | 2020-11-27 | 2022-11-11 | 河海大学 | Broadband NLFM (non-line-of-sight) emission beam forming method based on parameter fraction time delay extraction |
| CN113009418B (en) * | 2021-02-25 | 2021-11-09 | 中国科学院声学研究所 | Target depth estimation method based on pseudo-Green function pulse delay |
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