CN103809201B - A kind of multi output information fusion method based on bearing history and system - Google Patents
A kind of multi output information fusion method based on bearing history and system Download PDFInfo
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Abstract
The present invention relates to a kind of multi output information fusion method based on bearing history, including: each primitive received signal is carried out frequency-domain beamforming；Frequency domain output result is carried out frequency dividing rate unit energy calculate, obtain the wave beam output of different point frequency cells；Wave beam output is carried out maximum detection by different point intervals, orientation, the wave beam preformation orientation corresponding to maximum is considered as the target bearing that currently point orientation is interval, record wave beam preformation orientation corresponding to maximum and maximum；If the current processed time is more than or equal to the course timing statistics preset, perform next step, the most again do frequency-domain beamforming；To arbitrary point of frequency cells, being fitted removing open country, orientation point to the bearing history that each point of orientation is interval, calculate the variance in residue orientation, the power that accumulative residue orientation is corresponding, using variance and power as the information output interval in this point of orientation of this point of frequency cells；The output information of each point of frequency cells in interval, each point of orientation is merged.
Description
Technical field
The present invention relates to field of underwater acoustic signal processing, be specifically related to a kind of multi output information fusion side based on bearing history
Method and system.
Background technology
In Underwater acoustic signal processing application, realize the detection to target by target radiated noise is detected.Mesh
The conventional method of mark radiated noise detection is to use energy detector, and it is a kind of signal detection skill based on wide band energy integration
Art, along with the reduction of target radiated noise wide band energy, the method can not meet the needs of far-range target detection.Theoretical and real
Verify bright, method of underwater vessel radiated noise has abundant single-frequency components, particularly in low-frequency range, cut during due to propeller rotational
Cutting water body and can produce low frequency signal, these low frequency components have plenty of and directly occur in radiation signal with the form of additivity, have
Then by the vibration modulation of hull to higher frequency band itself, usual line spectrum spectrum level to exceed some dB than continuous spectrum spectrum level, this
Provide a kind of possible for realizing submarine target remote probe.
If containing strong line spectrum composition in target radiated noise, say, that line spectrum spectrum level is far longer than continuous spectrum spectrum level, directly
Connect and line spectrum is processed, be greatly improved the output signal-to-noise ratio of signal processing, thus improve signal detection performance.But generally feelings
Under condition, the line spectrum position in target emanation signal is unknown, i.e. the line spectral frequencies size of target emanation signal is unknown, is therefore
Utilize maximum input signal-to-noise ratio detection signal, need each frequency cells to analyzing in frequency band to process, each frequency
The corresponding wave beam output of rate unit, output fruiting quantities is big, and needs to be circulated the result of each frequency cells
Analyzing and judge just to obtain the correct detection to target, this is worthless in practical engineering application.
Summary of the invention
It is an object of the invention to overcome in prior art when line spectrum Location-Unknown in target emanation signal, it is right to need
The output result of each frequency cells judges, output fruiting quantities is excessive, is not suitable for the defect of practical engineering application, from
And a kind of multi output information fusion method based on bearing history is provided, and for comprising the linear array of multiple primitive, the method bag
Include:
Step 1), each primitive received signal in linear array is carried out frequency-domain beamforming；
Step 2), to step 1) frequency-domain beamforming after obtained by frequency domain output result carry out frequency dividing rate unit energy
Calculate, obtain the wave beam output of different point frequency cells；
Step 3), to step 2) obtained by difference point frequency cells wave beam output carry out by different point intervals, orientation
Maximum detects, and the wave beam preformation orientation corresponding to maximum is considered as the target bearing that currently point orientation is interval, and to described
The wave beam preformation orientation that maximum is corresponding carries out record, described maximum is carried out record simultaneously；
Step 4), preset course timing statistics, as the current processed time have been above or equal to preset course system
Between timing, then perform next step after being reset the processed time, otherwise re-execute step 1)-step 3)；
Step 5), to arbitrary point of frequency cells, the bearing history interval to each point of orientation of this point of frequency cells is intended
Close, and remove open country, orientation point according to fitting result, calculate the variance in residue orientation, and the power that accumulative residue orientation is corresponding, will
Obtained variance and power export as the information that this point of frequency cells is interval in this point of orientation；
Step 6), the output information of the interval each point of frequency cells in each point of orientation is merged.
In technique scheme, described step 1) it is additionally included in each primitive received signal is carried out frequency domain wave beam
Before formation, the operation that described signal is filtered.
In technique scheme, the step 1 described) in, described frequency-domain beamforming comprises the following steps:
The time-domain signal of each primitive is carried out FFT, obtains frequency-region signal；
According to preformation orientation, the frequency-region signal of each primitive is carried out phase compensation；
Again the signal of each primitive through phase compensation is sued for peace.
In technique scheme, the step 3 described) in, the described wave beam that difference is divided frequency cells exports by not
A same point interval, orientation carries out maximum detection and comprises:
First fix certain point of frequency cells, on the interval, each point of orientation of this point of frequency cells, then find out power maximum
Value, records this maximum and corresponding orientation thereof, and this orientation is considered as the target bearing that this point of orientation is interval, finally dividing each
Rate unit carries out above-mentioned process, obtains each point of frequency cells target Bearing Estimation result on interval, each point of orientation.
In technique scheme, the step 5 described) in, described in fit to least square fitting, described least square is intended
Close and use following computing formula:
min∑|θi(q,fj)-ati 2-bti-c|2, wherein,
I=1 ... N, N: course comprises orientation number,
Q=1 ... Q, Q: point interval, orientation number,
J=1 ... M, M: point frequency cells number.
θiRepresent the bearing history result estimated, tiExpress time sequence, f represents frequency, a, b, c be required by take be
Number.
In technique scheme, the step 5 described) in, described variance uses following equation to be calculated:
K is the number in effective orientation.
In technique scheme, described step 6) including:
First set point orientation interval, find out the power output maximum of the interval each point of frequency cells in this point of orientation, so
After in interval, this point of orientation, the power of each point of frequency cells is exported and is made whether more than described power output maximum
Half judges, in point frequency cells meeting condition, finds out point frequency cells that orientation variance minima is corresponding, output
The bearing history that this point of frequency cells is corresponding.
Present invention also offers a kind of multi output information fusion system based on bearing history, for comprising multiple primitive
Linear array, this system includes frequency-domain beamforming module, frequency dividing rate unit energy computing module, maximum detection module, judgement
Module, bearing history fitting module and information fusion module；Wherein,
Described frequency-domain beamforming module is for carrying out frequency domain ripple to each primitive received signal in linear array
Bundle is formed；
Described frequency dividing rate energy unit computing module is for the frequency domain obtained by described frequency-domain beamforming module
Output result carries out frequency dividing rate unit energy and calculates, and obtains the wave beam output of different point frequency cells；
Described maximum detection module is for dividing the difference obtained by described frequency dividing rate energy unit computing module
The wave beam output of frequency cells carries out maximum detection by different point intervals, orientation, by the wave beam preformation side corresponding to maximum
Position is considered as the target bearing that currently point orientation is interval, and the wave beam preformation orientation that described maximum is corresponding is carried out record, simultaneously
Described maximum is carried out record；
Described judge module is used for presetting course timing statistics, as the current processed time has been above or equal to pre-
If course timing statistics, then by the processed time reset after start bearing history fitting module, otherwise re-execute frequency domain ripple
Bundle forms module；
Described bearing history fitting module is for entering the bearing history in the interval, each point of orientation of arbitrary point of frequency cells
Row matching, and remove open country, orientation point according to fitting result, calculate the variance in residue orientation, and the merit that accumulative residue orientation is corresponding
Rate, using obtained variance and power as the information output interval in this point of orientation of this point of frequency cells；
Described information fusion module is carried out for the output information of each point of frequency cells interval to each point of orientation
Merge.
In technique scheme, described information fusion module, when carrying out information fusion, first sets point orientation interval,
Find out the power output maximum of the interval each point of frequency cells in this point of orientation, then to each frequency dividing in interval, this point of orientation
The power output of rate unit is made whether to judge more than the half of described power output maximum, is meeting the frequency dividing of condition
In rate unit, find out point frequency cells that orientation variance minima is corresponding, export this point of bearing history corresponding to frequency cells.
In technique scheme, described frequency-domain beamforming module is additionally included in be entered each primitive received signal
Before row frequency-domain beamforming, described signal is filtered.
It is an advantage of the current invention that:
The method of the present invention greatly inhibits strongly disturbing impact, reduces false-alarm, improves and believes under strong jamming background
Number detection performance, reduce the number of output result, it is possible to make full use of the highest input signal-to-noise ratio and maximum process increases simultaneously
Benefit target is detected, actually used in for target detection distance relative to common detection methods improve more than 1 times.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the linear array for target echo detection involved in the present invention；
Fig. 2-a is in one embodiment, and frequency 1 is the interval orientation knot extracted from bearing history in 60 ° of-120 ° of orientation
The schematic diagram of fruit；
Fig. 2-b is in one embodiment, and frequency 2 is the interval orientation knot extracted from bearing history in 60 ° of-120 ° of orientation
The schematic diagram of fruit；
Fig. 3 is the flow chart of the multi output information fusion method based on multi-faceted course of the present invention.
Detailed description of the invention
In conjunction with accompanying drawing, the invention will be further described.
Before the multi output information fusion method based on multi-faceted course of the present invention is described, first to this
The scene that bright method is applied does a simple declaration.
Having one for the linear array of target echo detection under water, this linear array includes multiple primitive, and Fig. 1 is wanted by linear array
The target of detection is relative to the orientation schematic diagram of linear array, and the primitive number of this linear array is E, and primitive is spaced apart d, and target is relative
It is θ in the orientation of linear array.
On the basis of above-mentioned linear array, the multi output information fusion method based on multi-faceted course of the present invention include with
Lower step:
Step 1), each primitive received signal in linear array is carried out frequency-domain beamforming；
Step 2), to step 1) frequency-domain beamforming after obtained by frequency domain output result carry out frequency dividing rate unit energy
Calculate, obtain the wave beam output of different point frequency cells；
Step 3), to step 2) obtained by difference point frequency cells wave beam output carry out by different point intervals, orientation
Maximum detects, and the wave beam preformation orientation corresponding to maximum is considered as the target bearing that currently point orientation is interval, and to described
The wave beam preformation orientation that maximum is corresponding carries out record, described maximum is carried out record simultaneously；
Step 4), preset a signal processing time length, i.e. course timing statistics, in this course timing statistics, course is altogether
Have been above or equal to the course timing statistics preset including F Position result, such as current processed time, then by processed
Time performs next step after resetting, and otherwise re-executes step 1)-step 3)；
Step 5), to arbitrary point of frequency cells, the bearing history interval to each point of orientation of this point of frequency cells is carried out
A young waiter in a wineshop or an inn takes advantage of matching, and removes open country, orientation point according to fitting result, calculates the variance in residue orientation, and accumulative residue orientation is corresponding
Power, obtained variance and power export as the information that this point of frequency cells is interval in this point of orientation；
Step 6), the output information of the interval each point of frequency cells in each point of orientation is merged.In the mistake merged
Cheng Zhong, first sets point orientation interval, finds out the power output maximum of the interval each point of frequency cells in this point of orientation, then exists
In interval, this point of orientation, the power to each point of frequency cells exports the half being made whether more than described power output maximum
Judge, in point frequency cells meeting condition, find out point frequency cells that orientation variance minima is corresponding, export this point
The bearing history that frequency cells is corresponding, can be as the foundation of succeeding target detection operation after the output of this bearing history.
It is above the basic step of the multi output information fusion method based on multi-faceted course of the present invention, below to these
Step is described further.
Described step 1) specifically comprise the steps of:
Step 1-1) primitive received signal is filtered, stick signal processes frequency band interested；
Step 1-2) each primitive reception signal is carried out frequency-domain beamforming, to improve processing gain.
Step 1-1 described) in, described filtering operation is for selecting effective band from received signal, to eliminate
Effective band spectrum is revealed and is impacted frequency domain wave beam by invalid frequency band.As a preferred implementation, the present embodiment uses
Step 1-1) primitive received signal is filtered operation, in other embodiments, this step also can be omitted, and each primitive receives
After signal, directly do frequency-domain beamforming.
Step 1-2) described in step specifically comprise the steps of:
Step 1-2-1), time-domain signal X (t)=[x to each primitive1(t) x2(t)…xMM(t)]TCarry out FFT,
Frequency domain signal X (f)=[x to each primitive1(f) x2(f)…xMM(f)]T。
Step 1-2-2), then according to preformation orientation, the frequency-region signal of each primitive is carried out phase compensation, compensation vector is Wherein τi=idcos (θ)/c, d is primitive spacing, and θ is preformation orientation, and c is sound
Speed.Wherein, described preformation orientation is several orientation values set in advance in 0-180 ° of space.
Step 1-2-3), more each primitive signal is sued for peace after phase compensation, utilize formula a (θ, f) X (f), certain
The frequency domain output in preformation orientation, the cumulative frequency-domain beamforming obtaining whole signal of frequency domain output in each preformation orientation.
In step 1) in, the signal received by primitive carries out frequency-domain beamforming following purpose, and first leads to
Cross frequency-domain beamforming and can be effectively improved the spatial gain of signal processing, improve power of test；After second pair of Wave beam forming
Wave beam output result carries out processing the orientation estimation that i.e. can realize detected target；3rd, directly use frequency-domain beamforming
The frequency dividing rate unit energy being conducive to next step calculates, and according to Time domain beamforming, the most also needs through different filter filterings
After make energy calculation again.
Assuming that the bearing range that need to detect is 0-180 °, the number covering the formed wave beam in detection orientation is L, frequency domain wave beam
Formed frequency analysis count as N, then step 1) perform after export L × N-dimensional complex matrix；Sample frequency is designated as fs, then export
The frequency resolution of result is fs/N。
Step 2 described) in, frequency dividing rate unit energy calculates and includes: to R (θi,fj) to carry out delivery flat for corresponding value
Side；Wherein, R (θi,fj) represent different preformation orientation frequency-region signal, i=1 ... L, L represent preformation wave beam count, j=1 ... M, M table
Show a point frequency cells number.The number of therein point of frequency cells and FFT count relevant, if signal processing band bandwidth is B, then
Point frequency cells number is [B N/fs] ([] represent round), and therefore, frequency dividing rate unit energy calculates and correspond to step 1) in
The energy balane of one point.
Step 3 described) in, the wave beam output to difference point frequency cells carries out maximum by different point intervals, orientation
Value detection comprises the steps of:
First fix certain point of frequency cells, on the interval, each point of orientation of this point of frequency cells, then find out power maximum
Value, records this maximum and corresponding orientation thereof, and this orientation is considered as the target bearing that this point of orientation is interval, finally dividing each
Rate unit carries out above-mentioned process, obtains each point of frequency cells target Bearing Estimation result on interval, each point of orientation.
Step 5 described) in, computer azimuth variance and power integration, be by interval, each point of orientation of each point of frequency cells
Bearing history seek variance, and the power output to orientation is corresponding is accumulative, specifically comprises the steps of:
Step 5-1), first the target bearing obtained by step before is fitted, described matching uses a young waiter in a wineshop or an inn
Taking advantage of matching, the coefficient of least square fitting meets following equation, utilizes this formula can try to achieve coefficient a, b, c.
min∑|θi(q,fj)-ati 2-bti-c|2, wherein,
I=1 ... N, N: course comprises orientation number,
Q=1 ... Q, Q: point interval, orientation number,
J=1 ... M, M: point frequency cells number.
θiRepresent the bearing history result estimated, tiExpress time sequence；
In addition to coefficient a, b, c, the parameter representated by other letters in formula is all given value.
Step 5-2), after obtaining coefficient a, b, c, remove θi(q,fj)-ati 2-btiThe wild point that in-c, some deviations are bigger,
Then utilize following formula to obtain variance to be:
Utilize following formula to try to achieve power integration to be:
P(q,fi)=∑ R (θi(q,fj),fj)
As a kind of preferred implementation, in the present embodiment, in order to improve precision, it is to avoid unnecessary calculating, above-mentioned
Two formula summations are only carried out in effective orientation.
In the present embodiment, when removing open country point, can use and deviation value is compared with deviation maximum set in advance
Mode relatively realizes.
In step 6) in, the described each point frequency cells interval to each orientation merges and finally realizes target inspection
The calculating process surveyed is as follows:
First constant bearing is interval, obtains power P (q, fi) maximum, then find out P (q, fiMore than 1/2 maximum in)
Point frequency cells of value, then in these point of frequency cells, find out variance δθ(q,fi)2Minimum point frequency cells, then this frequency dividing
Rate unit is the final detection point frequency cells that this orientation is interval, and its corresponding bearing history exports as object detection results, changes
Variable-azimuth is interval, repeats said process.
It is above the description to the inventive method, in order to make it easy to understand, below in conjunction with a concrete example, to the present invention
Method is described further.
The inventive method needs to merge the signal processing results of multiple points of frequency cells in actual use, according to
Result after fusion can realize target detection.In order to simplify conveniently, the signal to two points of frequency cells in the present embodiment
Result merges, and the two point frequency cells can be designated as frequency 1 and frequency 2 respectively.
With reference to Fig. 3, associative operation is as follows:
Step 102, the primitive signal dragging linear array to receive is filtered, only effective band is filtered, to eliminate nothing
Effect frequency band leaks the impact on frequency-domain beamforming to effective band spectrum.
Step 103, signal after filtering is carried out frequency-domain beamforming.When carrying out frequency-domain beamforming, first profit
With conversion FFT by each primitive time-domain signal X (t)=[x1(t) x2(t)…xMM(t)]TIt is changed into frequency domain signal X (f)=[x1(f)
x2(f)…xMM(f)]T, then according to preformation orientation, each primitive frequency-region signal being carried out phase compensation, compensation vector is Wherein τi=idcos (θ)/c, d is primitive spacing, and θ is preformation orientation, and c is sound
Speed.Again each primitive signal is sued for peace after phase compensation, utilize formula a (θ, f) X (f), the frequency domain in certain preformation orientation is defeated
Go out.
Step 104, the frequency domain output result obtained by after frequency-domain beamforming is carried out frequency dividing rate unit energy calculate.
Obtained by step before is the frequency-region signal in a certain preformation orientation, is a complex vector, needs at frequency domain
Being integrated obtaining wave beam output, the inventive method uses the calculating of frequency dividing rate unit energy to obtain wave beam output.Different pre-
Orientation frequency-region signal is become to be defined as:
B1(k1, k2), k1=1 ... L, L: preformation wave beam count, k2=1 ... N, N:FFT count
Described energy balane is to B1(k1,k2) corresponding value carries out delivery square.
Step 105, the wave beam output of generation difference point frequency cells, its expression formula is as follows:
B2(θi,fj) i=1 ... L, L: preformation wave beam count, j=1 ... M, M: frequency dividing rate unit number
Step 106, preformation orientation being divided into interval, some points of orientation, the most each point of frequency cells is in each point of orientation
Power maximum is sought in interval, and obtains this orientation corresponding to power maximum.
Obtained orientation references is: B3(q,fj), obtained power meter is shown as: B4(q,fj)；Wherein, q=1 ... Q, Q
Represent a point orientation interval number, j=1 ... M, M represent frequency dividing rate unit number.
Step 107, to power maximum and maximum correspondence orientation record in addition.
Step 108, default a signal processing time length, i.e. course timing statistics, course in this course timing statistics
Include F Position result altogether, have been above such as the current processed time or equal to the course timing statistics preset, then will locate
The reason time performs next step after resetting, and otherwise re-executes step 102-step 107；
Step 109, to the in addition matching of the interval bearing history in each point of each orientation of frequency cells.
Step 110, remove open country, orientation point according to the result of step 109, then residue orientation is calculated variance, and to residue
The power summation that orientation is corresponding, thus obtain the information that each point of each orientation of frequency cells is interval.
Obtained orientation variance is expressed as B7(q,fj), obtained power integration is expressed as B8(q,fj)。
Step 111-115 is the determination to effective frequency, thus filters out several in multiple bearing histories output result
Effective bearing history.
First constant bearing is interval, finds out the power output maximum of the interval each point of frequency cells in this orientation, then exists
In this interval, orientation, the power to each point of frequency cells exports the judgement being made whether more than 1/2 power maximum, is meeting
In point frequency cells of condition, find out point frequency cells that orientation variance minima is corresponding, export this point of frequency cells corresponding
Bearing history, can be as the foundation of target detection after the output of this bearing history.Change orientation interval, repeat said process.
According to aforesaid operations, available frequency 1 and the bearing history of frequency 2, Fig. 2-a and Fig. 2-b are frequency 1 and frequency 2
The interval Position result extracted from bearing history in 60 ° of-120 ° of orientation, after its orientation matching elimination of burst noise is processed, meter
The bearing calibration difference calculating frequency 1 is 15.8 °, and power integration relative value is 2.9, and the bearing calibration of frequency 2 is 0.92 °, and power tires out
Meter relative value is 6.92.The result of comparison frequency 1 and frequency 2 may determine that the bearing history of frequency 2 is effective bearing history, i.e.
Frequency 1 is invalid point of frequency cells, and frequency 2 is effective point frequency cells.The output of frequency 2 can realize the detection of target.
In addition to the above method, present invention also offers a kind of multi output information fusion system based on bearing history, should
System includes frequency-domain beamforming module, frequency dividing rate unit energy computing module, maximum detection module, judge module, orientation
Course fitting module and information fusion module；Wherein,
Described frequency-domain beamforming module is for carrying out frequency domain ripple to each primitive received signal in linear array
Bundle is formed；
Described frequency dividing rate energy unit computing module is for the frequency domain obtained by described frequency-domain beamforming module
Output result carries out frequency dividing rate unit energy and calculates, and obtains the wave beam output of different point frequency cells；
Described maximum detection module is for dividing the difference obtained by described frequency dividing rate energy unit computing module
The wave beam output of frequency cells carries out maximum detection by different point intervals, orientation, by the wave beam preformation side corresponding to maximum
Position is considered as the target bearing that currently point orientation is interval, and the wave beam preformation orientation that described maximum is corresponding is carried out record, simultaneously
Described maximum is carried out record；
Described judge module is used for presetting course timing statistics, as the current processed time has been above or equal to pre-
If course timing statistics, then by the processed time reset after start bearing history fitting module, otherwise re-execute frequency domain ripple
Bundle forms module；
Described bearing history fitting module is for entering the bearing history in the interval, each point of orientation of arbitrary point of frequency cells
Row matching, and remove open country, orientation point according to fitting result, calculate the variance in residue orientation, and the merit that accumulative residue orientation is corresponding
Rate, using obtained variance and power as the information output interval in this point of orientation of this point of frequency cells；
Described information fusion module is carried out for the output information of each point of frequency cells interval to each point of orientation
Merge.
It should be noted last that, above example is only in order to illustrate technical scheme and unrestricted.Although ginseng
According to embodiment, the present invention is described in detail, it will be understood by those within the art that, the technical side to the present invention
Case is modified or equivalent, and without departure from the spirit and scope of technical solution of the present invention, it all should be contained in the present invention
Right in the middle of.
Claims (10)
1. a multi output information fusion method based on bearing history, for comprising the linear array of multiple primitive, the method bag
Include:
Step 1), each primitive received signal in linear array is carried out frequency-domain beamforming；
Step 2), to step 1) frequency-domain beamforming after obtained by frequency domain output result carry out frequency dividing rate unit energy meter
Calculate, obtain the wave beam output of different point frequency cells；
Step 3), to step 2) obtained by difference point frequency cells wave beam output carry out maximum by different point intervals, orientation
Value detection, is considered as the target bearing that currently point orientation is interval by the wave beam preformation orientation corresponding to maximum, and to described maximum
The wave beam preformation orientation of value correspondence carries out record, described maximum is carried out record simultaneously；
Step 4), preset course timing statistics, as the current processed time have been above or equal to preset course statistics time
Between, then perform next step after being reset the processed time, otherwise re-execute step 1) step 3)；
Step 5), to arbitrary point of frequency cells, the bearing history interval to each point of orientation of this point of frequency cells is fitted, and
Remove open country, orientation point according to fitting result, calculate the variance in residue orientation, and the power that accumulative residue orientation is corresponding, by obtained
Variance and power as the information output interval in this point of orientation of this point of frequency cells；
Step 6), the output information of the interval each point of frequency cells in each point of orientation is merged.
Multi output information fusion method based on bearing history the most according to claim 1, it is characterised in that described step
Rapid 1) before being additionally included in each primitive received signal being carried out frequency-domain beamforming, the behaviour that described signal is filtered
Make.
Multi output information fusion method based on bearing history the most according to claim 1 and 2, it is characterised in that in institute
The step 1 stated) in, described frequency-domain beamforming comprises the following steps:
The time-domain signal of each primitive is carried out FFT, obtains frequency-region signal；
According to preformation orientation, the frequency-region signal of each primitive is carried out phase compensation；
Again the signal of each primitive through phase compensation is sued for peace.
Multi output information fusion method based on bearing history the most according to claim 1 and 2, it is characterised in that in institute
The step 3 stated) in, the described wave beam to difference point frequency cells exports and carries out maximum detection by different point intervals, orientation
Comprise:
First fix certain point of frequency cells, then on the interval, each point of orientation of this point of frequency cells, find out power maximum,
Recording this maximum and corresponding orientation thereof, this orientation is considered as the target bearing that this point of orientation is interval, finally to each frequency dividing rate
Unit carries out above-mentioned process, obtains each point of frequency cells target Bearing Estimation result on interval, each point of orientation.
Multi output information fusion method based on bearing history the most according to claim 1 and 2, it is characterised in that in institute
The step 5 stated) in, described in fit to least square fitting, described least square fitting uses following computing formula:
minΣ|θi(q,fj)-ati 2-bti-c|2, wherein,
I=1 ... N, N: course comprises orientation number,
Q=1 ... Q, Q: point interval, orientation number,
J=1 ... M, M: point frequency cells number,
θiRepresent the bearing history result estimated, tiExpress time sequence, f represents frequency, a, b, c be required by the coefficient that takes.
Multi output information fusion method based on bearing history the most according to claim 5, it is characterised in that described
Step 5) in, described variance uses following equation to be calculated:
Wherein,
K is the number in effective orientation.
Multi output information fusion method based on bearing history the most according to claim 1 and 2, it is characterised in that described
Step 6) including:
First set point orientation interval, find out the power output maximum of the interval each point of frequency cells in this point of orientation, then exist
In interval, this point of orientation, the power to each point of frequency cells exports the half being made whether more than described power output maximum
Judge, in point frequency cells meeting condition, find out point frequency cells that orientation variance minima is corresponding, export this point
The bearing history that frequency cells is corresponding.
8. a multi output information fusion system based on bearing history, it is characterised in that for comprising the alignment of multiple primitive
Battle array, this system include frequency-domain beamforming module, frequency dividing rate unit energy computing module, maximum detection module, judge module,
Bearing history fitting module and information fusion module；Wherein,
Described frequency-domain beamforming module is for carrying out frequency domain wave beam shape to each primitive received signal in linear array
Become；
Described frequency dividing rate energy unit computing module is for exporting the frequency domain obtained by described frequency-domain beamforming module
Result carries out frequency dividing rate unit energy and calculates, and obtains the wave beam output of different point frequency cells；
Described maximum detection module is for the different frequency dividing rates obtained by described frequency dividing rate energy unit computing module
The wave beam output of unit carries out maximum detection by different point intervals, orientation, is regarded in the wave beam preformation orientation corresponding to maximum
For currently dividing the target bearing in interval, orientation, and the wave beam preformation orientation that described maximum is corresponding is carried out record, simultaneously to institute
State maximum and carry out record；
Described judge module is used for presetting course timing statistics, as the current processed time have been above or equal to preset
Course timing statistics, then start bearing history fitting module, otherwise re-execute frequency domain wave beam shape after being reset the processed time
Become module；
Described bearing history fitting module is for intending the bearing history in the interval, each point of orientation of arbitrary point of frequency cells
Close, and remove open country, orientation point according to fitting result, calculate the variance in residue orientation, and the power that accumulative residue orientation is corresponding, will
Obtained variance and power export as the information that this point of frequency cells is interval in this point of orientation；
Described information fusion module merges for the output information of each point of frequency cells interval to each point of orientation.
Multi output information fusion system based on bearing history the most according to claim 8, it is characterised in that described letter
Breath Fusion Module, when carrying out information fusion, first sets point orientation interval, finds out the interval each point of frequency cells in this point of orientation
Power output maximum, then in interval, this point of orientation, the power of each point of frequency cells is exported and is made whether more than institute
The half stating power output maximum judges, in point frequency cells meeting condition, finds out orientation variance minima pair
Point frequency cells answered, exports this point of bearing history corresponding to frequency cells.
Multi output information fusion system based on bearing history the most according to claim 8, it is characterised in that described
Frequency-domain beamforming module is additionally included in before each primitive received signal is carried out frequency-domain beamforming, to described signal
It is filtered.
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