CN103902843B - A kind of based on formation distortion and the sonar signal emulation mode of array element randomized jitter - Google Patents

Abstract

The invention discloses a kind of based on formation distortion and the sonar signal emulation mode of array element randomized jitter, this emulation mode comprises the following steps: the first step: the coordinate of each array element when the linear array that measuring and calculating arranges at equal intervals distorts without formation；Second step: obtain the changing coordinates of formation rear No. i-th array element of distortion；3rd step: in the case of array element randomized jitter, generates array element signals；4th step: when randomized jitter occurs, the array element signals that No. i-th array element actually generates.This emulation mode utilizes sinusoidal random perturbation and the formation distortion of Gauss formation disturbance performance sonar signal emulation, randomized jitter based on the performance sonar signal emulation of equally distributed array element signals randomized jitter so that sonar signal emulation mode is more accurate.

Description

A kind of based on formation distortion and the sonar signal emulation mode of array element randomized jitter

Technical field

The invention belongs to signal transacting field, it particularly relates to a kind of based on formation distortion and the sonar signal emulation mode of array element randomized jitter.

Background technology

Common sonar transducer array formation includes: linear array, continuous linear array, the unequal linear array in primitive interval, equally distributed round battle array, circular array and the rectangular surfaces battle array etc. arranged at equal intervals.General sonar signal emulation is all based on following hypothesis: lay that underwater sonar transducer array will not be moved by towboat, the factor such as ocean current impact is affected and occurs formation to distort.But in actual mechanical process, sonar transducer array is affected by many factors be there will be formation unavoidably and distorts, such as, laying the underwater linear array arranged at equal intervals is affected can bend by towboat, ocean current etc., and formation is distorted.Additionally, sonar transducer array in production technology and some errors the most inevitably occurs in installation process, projection is the randomized jitter of array element signals on sonar signal.

Summary of the invention

Technical problem: the technical problem to be solved is: a kind of based on formation distortion and the sonar signal emulation mode of array element randomized jitter, this emulation mode utilizes sinusoidal random perturbation and the formation distortion of Gauss formation disturbance performance sonar signal emulation, randomized jitter based on the performance sonar signal emulation of equally distributed array element signals randomized jitter so that sonar signal emulation mode is more accurate.

Technical scheme: for solving above-mentioned technical problem, the technical solution used in the present invention is:

A kind of based on formation distortion and the sonar signal emulation mode of array element randomized jitter, this emulation mode comprises the following steps:

The first step: the coordinate of each array element when the linear array that measuring and calculating arranges at equal intervals distorts without formation: obtain array element distance d of the linear array arranged at equal intervals, degree of depth z that element number of array n harmony Naboo is put, thus calculate the coordinate of each array element when the linear array arranged at equal intervals distorts without formation, when note distorts without formation, the coordinate of No. i-th array element in the 1st n array element is (x_i,y_i,z_i)；I is array element label, and i value is 1 n；Wherein, the label of array element is from the beginning of the initial point of coordinate system, and according to X-direction, sequentially label, from 1 mark to No. n；

Second step: obtain the changing coordinates of formation rear No. i-th array element of distortion: when the linear array arranged at equal intervals occurs that formation distorts, when formation distortion is sinusoidal random perturbation, arranging the disturbance parameter of sinusoidal random perturbation, the disturbance parameter of sinusoidal random perturbation includes the random frequency f of sinusoidal random perturbation, random magnitude A of sinusoidal random perturbation and is numbered the initial phase of array element of 1When formation distortion is gaussian random disturbance, arranging the disturbance parameter of gaussian random disturbance, the disturbance parameter of gaussian random disturbance includes mean μ and the variances sigma of gaussian random disturbance of gaussian random disturbance², thus the changing coordinates (x of No. i-th array element in the 1st n array element after obtaining formation distortion_i',y_i',z_i')；

3rd step: in the case of array element randomized jitter, generation array element signals: changing coordinates (x based on No. i-th array element in the 1st n array element after the formation distortion that second step obtains_i',y_i',z_i'), generate array element signals s traveling to each array element without underwater acoustic target radiated noise signal in the case of array element randomized jitter from Acoustic Object position_iK (), k is integer variable；

4th step: when randomized jitter occurs, the array element signals that No. i-th array element actually generates: when randomized jitter occurs in No. i-th array element in the 1st n array element, array element signals s' that No. i-th array element actually generates_i(k) be:

s'_i(k)=s_i(k)(1-a_i)+M_iFormula (1)

Wherein, M_iRepresent the mean shift of No. i-th array element randomized jitter, a_iRepresent the amplitude fading of No. i-th array element randomized jitter.

Further, in the described first step, when coordinate system is not deform with formation, the linear array end position arranged at equal intervals is center of circle O, the direction that the linear array arranged the most at equal intervals with hull travels is as X-direction, the direction of the linear array disturbance arranged at equal intervals is Y direction, and the direction being perpendicular to sea level and sensing the earth's core is Z-direction；Coordinate (the x of No. i-th array element in the 1st n array element when obtaining distorting without formation according to formula (2)_i,y_i,z_i):

Wherein, d represents the array element distance of the linear array arranged at equal intervals, and i represents array element label, z expression sound

The degree of depth that Naboo is put.

Further, in described second step, foundation formula (3) obtains the coordinate (x of No. i-th array element during sinusoidal random perturbation in the 1st n array element_i',y_i',z_i'):

Coordinate (x according to No. i-th array element that formula (4) obtains during gaussian random disturbance in the 1st n array element_i',y_i',z_i'):

Wherein, f (y_i') represent No. i-th array element y_i' the probability density function of coordinate, y_i' meeting Gaussian Profile, e represents math constant, is 2.7182818.

Further, in the 4th described step, the amplitude fading a of No. i-th array element randomized jitter_iObedience is uniformly distributed:

Wherein, f (a_i) represent amplitude fading a_iProbability density function, A and B is equally distributed two parameters, and A≤a_i≤ B, equally distributed average isEqually distributed variance is

Further, in the 3rd described step, generate array element signals s_iK the process of () is underwater acoustic target radiated noise signal and the ocean channel phase convolution arriving each array element from Acoustic Object position.

Beneficial effect: compared with prior art, the emulation mode of the present invention is more accurate.The emulation of existing sonar signal does not consider formation distortion and array element randomized jitter, ignores in actual mechanical process, and sonar transducer array occurs that formation distorts, and the situation of randomized jitter occurs in array element signals.The emulation mode of this patent utilizes sinusoidal random perturbation and the formation distortion of Gauss formation disturbance performance sonar signal emulation, randomized jitter based on the performance sonar signal emulation of equally distributed array element signals randomized jitter so that sonar signal emulation mode is more accurate.Formation in sonar signal emulation is distorted and the emulation of array element shake by the emulation mode realization of the present invention, abandons formation during sonar signal emulates and does not distort that do not shake with array element it is assumed that make sonar signal emulate more truly and accurate.It addition, the emulation mode of the present invention utilizes sine curve and Gaussian Profile performance formation distortion and array element to shake, there is engineering practicability.

Accompanying drawing explanation

Fig. 1 is the FB(flow block) of the present invention.

Fig. 2 is the basic matrix coordinate of the sinusoidal random perturbation of linear array addition of embodiment 1 equal intervals arrangement.

Fig. 3 is the basic matrix coordinate of the linear array addition gaussian random disturbance of embodiment 1 equal intervals arrangement.

Fig. 4 is that the linear array of embodiment 1 equal intervals arrangement adds sinusoidal random perturbation and the sonar array signal of array element randomized jitter.

Fig. 5 is that the linear array of embodiment 1 equal intervals arrangement adds gaussian random disturbance and the sonar array signal of array element randomized jitter.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, all other embodiments that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.

As it is shown in figure 1, the present invention's is a kind of based on formation distortion and the sonar signal emulation mode of array element randomized jitter, comprise the following steps:

The first step: obtain array element distance d of the linear array arranged at equal intervals, degree of depth z that element number of array n harmony Naboo is put, thus calculate the coordinate of each array element when the linear array arranged at equal intervals distorts without formation, when note distorts without formation, the coordinate of No. i-th array element in the 1st n array element is (x_i,y_i,z_i)；I is array element label, and i value is 1 n；Wherein, the label of array element is from the beginning of the initial point of coordinate system, and according to X-direction, sequentially label, from 1 mark to No. n.

In the first step, when coordinate system is not deform with formation, the linear array end position arranged at equal intervals is center of circle O, the direction that the linear array arranged the most at equal intervals with hull travels is as X-direction, the direction of the linear array disturbance arranged at equal intervals is Y direction, and the direction being perpendicular to sea level and sensing the earth's core is Z-direction.Coordinate (the x of No. i-th array element in the 1st n array element when obtaining distorting without formation according to formula (2)_i,y_i,z_i):

Wherein, d represents the array element distance of the linear array arranged at equal intervals, and i represents array element label, z expression sound

The degree of depth that Naboo is put.

Second step: when the linear array arranged at equal intervals occurs that formation distorts, when formation distortion is sinusoidal random perturbation, arranging the disturbance parameter of sinusoidal random perturbation, the disturbance parameter of sinusoidal random perturbation includes the random frequency f of sinusoidal random perturbation, random magnitude A of sinusoidal random perturbation and is numbered the initial phase of array element of 1When formation distortion is gaussian random disturbance, arranging the disturbance parameter of gaussian random disturbance, the disturbance parameter of gaussian random disturbance includes mean μ and the variances sigma of gaussian random disturbance of gaussian random disturbance², thus the changing coordinates (x of No. i-th array element in the 1st n array element after obtaining formation distortion_i',y_i',z_i')。

In second step, foundation formula (3) obtains the coordinate (x of No. i-th array element during sinusoidal random perturbation in the 1st n array element_i',y_i',z_i'):

Coordinate (x according to No. i-th array element that formula (4) obtains during gaussian random disturbance in the 1st n array element_i',y_i',z_i'):

Wherein, f (y_i') represent No. i-th array element y_i' the probability density function of coordinate, y_i' meeting Gaussian Profile, e represents math constant, is 2.7182818；

3rd step: changing coordinates (x based on No. i-th array element in the 1st n array element after the formation distortion that second step obtains_i',y_i',z_i'), generate array element signals s traveling to each array element without underwater acoustic target radiated noise signal in the case of array element randomized jitter from Acoustic Object position_iK (), k is integer variable.

In the third step, array element signals s is generated_iK the process of () is underwater acoustic target radiated noise signal and the ocean channel phase convolution arriving each array element from Acoustic Object position.

4th step: when randomized jitter occurs in No. i-th array element in the 1st n array element, array element signals s' that No. i-th array element actually generates_i(k) be:

s'_i(k)=s_i(k)(1-a_i)+M_iFormula (1)

Wherein, M_iRepresent the mean shift of No. i-th array element randomized jitter, a_iRepresent the amplitude fading of No. i-th array element randomized jitter.

In the 4th step, the amplitude fading a of No. i-th array element randomized jitter_iObedience is uniformly distributed:

Wherein, f (a_i) represent amplitude fading a_iProbability density function, A and B is equally distributed two parameters, and A≤a_i≤ B, equally distributed average isEqually distributed variance is

Enumerate an embodiment below.

Embodiment

Certain linear array arranged at equal intervals existing, array element distance 0.25m, element number of array 36, cloth is placed in the seawater that distance sea level 30m is deep.Owing to being affected by towboat, ocean current etc., formation is distorted；Owing to sonar transducer array in production technology and occurs in that error in installation process, there is randomized jitter in No. 1 array element, and the mean shift of 0.2v occurs in the array element signals of No. 1 array element, and amplitude fading is at about 0-0.2.Underwater acoustic target radiated noise signal is assumed to simple signal, and sample rate is f_s=6KHz, the frequency of simple signal is 300Hz.

First, the coordinate of each array element of the 1st～No. 36 array element when the linear array that arranges at equal intervals of measuring and calculating distorts without formation, calculates when distorting the coordinate of each array element without formation as shown in Figures 2 and 3.

Then, when formation distortion is sinusoidal random perturbation, the disturbance parameter of sinusoidal random perturbation is set, the disturbance parameter of sinusoidal random perturbation include the random frequency f of sinusoidal random perturbation be 0.05Hz, random magnitude A of sinusoidal random perturbation is 1v and is numbered the initial phase of array element of 1It it is 0 °.When formation distortion is gaussian random disturbance, arranging the disturbance parameter of gaussian random disturbance, the disturbance parameter of gaussian random disturbance includes that the mean μ of gaussian random disturbance is 0v and the variances sigma of gaussian random disturbance²It is 0.02.The parameter measurement utilizing formation to distort goes out the changing coordinates of each array element after formation distorts, array element changing coordinates such as Fig. 2 when formation distortion is sinusoidal random perturbation, array element changing coordinates such as Fig. 3 when formation distortion is gaussian random disturbance.

Then, changing coordinates based on No. i-th array element in the 1st～No. 36 array element during sinusoidal random perturbation, when generating sinusoidal random perturbation, underwater acoustic target radiated noise signal travels to the array element signals of each array element from Acoustic Object position, as shown in Figure 4.Changing coordinates based on No. i-th array element in the 1st～No. 36 array element during gaussian random disturbance, when generating gaussian random disturbance, underwater acoustic target radiated noise signal travels to the array element signals of each array element from Acoustic Object position, as shown in Figure 5.Finding out from Fig. 4 and Fig. 5, sinusoidal random perturbation and gaussian random disturbance the most preferably simulate the linear array arranged at equal intervals and lay underwater actual effect.

Finally, the mean shift M of No. 1 array element randomized jitter in the 1st～No. 36 array element of setting₁For 0.2v, amplitude fading a₁Obedience is uniformly distributed:Generate underwater acoustic target radiated noise signal when random perturbation occurs in No. 1 array element when formation distortion is sinusoidal random perturbation and travel to the array element signals of No. 1 array element from Acoustic Object position, as shown in Figure 4.Generate underwater acoustic target radiated noise signal when randomized jitter occurs in No. 1 array element when formation distortion is gaussian random disturbance and travel to the array element signals of No. 1 array element from Acoustic Object position, as shown in Figure 5.Finding out from Fig. 4 and Fig. 5, when randomized jitter occurs in No. 1 array element, there is the mean shift of 0.2v and the amplitude fading of 0.1 in the array element signals of No. 1 array element.This numerical value meets No. 1 array element that the present embodiment starts to set when there is randomized jitter, and the mean shift of 0.2v occurs in the array element signals of No. 1 array element, and amplitude fading is at about 0-0.2.The simulated effect of No. 1 array element reaches the actual effect of array element shake.

Thered is provided the embodiment of the present invention above is a kind of based on formation distortion and the sonar signal emulation mode of array element randomized jitter, it is described in detail, principle and the embodiment of the present invention are set forth by specific case used herein, and the explanation of above example is only intended to help to understand method and the core concept thereof of the present invention；Simultaneously for one of ordinary skill in the art, according to the thought of the present invention, the most all will change, in sum, this specification content should not be construed as limitation of the present invention.

Claims (5)

1. one kind is distorted and the sonar signal emulation mode of array element randomized jitter based on formation, it is characterised in that This emulation mode comprises the following steps:

The first step: the coordinate of each array element when the linear array that measuring and calculating arranges at equal intervals distorts without formation: obtain at equal intervals Array element distance d of the linear array of arrangement, degree of depth z that element number of array n harmony Naboo is put, thus measuring and calculating is arranged at equal intervals The linear array of row is the coordinate of each array element when distort without formation, remembers when distorting the in the 1st n array element without formation The coordinate of i array element is (x_i,y_i,z_i)；I is array element label, and i value is 1 n；Wherein, the label of array element From the beginning of the initial point of coordinate system, according to X-direction, sequentially label, from 1 mark to No. n；

Second step: obtain the changing coordinates of formation rear No. i-th array element of distortion: occur in the linear array arranged at equal intervals During formation distortion, when formation distortion is sinusoidal random perturbation, the disturbance parameter of sinusoidal random perturbation is set, just The disturbance parameter of string random perturbation includes the random frequency f of sinusoidal random perturbation, the Random amplitude of sinusoidal random perturbation The initial phase of the array element spending A and be numbered 1；When formation distortion is gaussian random disturbance, height is set The disturbance parameter of this random perturbation, the disturbance parameter of gaussian random disturbance include gaussian random disturbance mean μ and The variances sigma of gaussian random disturbance², thus No. i-th array element in the 1st n array element after obtaining formation distortion Changing coordinates (x_i',y_i',z_i')；

3rd step: in the case of array element randomized jitter, generates array element signals: the formation obtained based on second step is abnormal Changing coordinates (the x of No. i-th array element in the 1st n array element after change_i',y_i',z_i'), generate without array element randomized jitter In the case of underwater acoustic target radiated noise signal travel to the array element signals of each array element from Acoustic Object position s_iK (), k is integer variable；

4th step: when randomized jitter occurs, the array element signals that No. i-th array element actually generates: the 1st n array element In No. i-th array element time randomized jitter occurs, array element signals s' that No. i-th array element actually generates_i(k) be:

s'_i(k)=s_i(k)(1-a_i)+M_iFormula (1)

Wherein, M_iRepresent the mean shift of No. i-th array element randomized jitter, a_iRepresent No. i-th array element randomized jitter Amplitude fading.

2. according to distorting and the sonar signal emulation side of array element randomized jitter based on formation described in claim 1 Method, it is characterised in that in the described first step, when coordinate system is not deform with formation, arranges at equal intervals Linear array end position is center of circle O, and the direction that the linear array arranged the most at equal intervals with hull travels is as X-axis Direction, the direction of the linear array disturbance arranged at equal intervals is Y direction, is perpendicular to sea level and points to the earth's core Direction is Z-direction；No. i-th array element in 1st n array element when obtaining distorting without formation according to formula (2) Coordinate (x_i,y_i,z_i):

$\left\{\begin{array}{c}{x}_i=(i-1)d\\ y_i=0\\ z_i=z\end{array}\right.$ Formula (2)

Wherein, d represents the array element distance of the linear array arranged at equal intervals, and i represents array element label, z expression sound The degree of depth that Naboo is put.

3. according to distorting and the sonar signal emulation side of array element randomized jitter based on formation described in claim 1 Method, it is characterised in that in described second step, foundation formula (3) obtains the 1st n during sinusoidal random perturbation Coordinate (the x of No. i-th array element in number array element_i',y_i',z_i'):

Formula (3)

Coordinate according to No. i-th array element that formula (4) obtains during gaussian random disturbance in the 1st n array element (x_i',y_i',z_i'):

$\left\{\begin{array}{c}{x}_i^{\′}=(i-1)d\\ f\left(y_i^{\′}\right)=\frac{1}{\sqrt{2\mathrm{\π}{\mathrm{\σ}}^2}}{e}^{(-\frac{{(y_i^{\′}-\mathrm{\μ})}^2}{2{\mathrm{\σ}}^2})}\\ z_i^{\′}=z\end{array}\right.$ Formula (4)

Wherein, f (y_i') represent No. i-th array element y_i' the probability density function of coordinate, y_i' meet Gaussian Profile, e Represent math constant, be 2.7182818.

4. according to distorting and the sonar signal emulation side of array element randomized jitter based on formation described in claim 1 Method, it is characterised in that in the 4th described step, the amplitude fading a of No. i-th array element randomized jitter_iObey uniformly Distribution:

$f\left(a_i\right)=\frac{1}{B-A}$ Formula 5

Wherein, f (a_i) represent amplitude fading a_iProbability density function, A and B is equally distributed two ginsengs Number, and A ￡ a_i￡ B, equally distributed average isEqually distributed variance is

5. according to distorting and the sonar signal emulation side of array element randomized jitter based on formation described in claim 1 Method, it is characterised in that in the 3rd described step, generates array element signals s_iK the process of () is underwater acoustic target radiated Noise signal and arrive the ocean channel phase convolution of each array element from Acoustic Object position.