CN104199037B - Recursive filtering modulating method of transient broadband excitation signal of parametric array sonar - Google Patents
Recursive filtering modulating method of transient broadband excitation signal of parametric array sonar Download PDFInfo
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- CN104199037B CN104199037B CN201410384623.3A CN201410384623A CN104199037B CN 104199037 B CN104199037 B CN 104199037B CN 201410384623 A CN201410384623 A CN 201410384623A CN 104199037 B CN104199037 B CN 104199037B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/74—Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/524—Transmitters
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Circuit For Audible Band Transducer (AREA)
Abstract
The invention relates to a recursive filtering modulating method of a transient broadband excitation signal of parametric array sonar. The method comprises the following steps: performing recursive filtering for a signal to be processed through a recursive filtering device to obtain X(n+1); obtaining an envelope E(n+1); performing up-sampling for the envelope E(n+1) through an interpolation filter; performing double-sideband amplitude modulation together with a digital carrier signal; performing D/ A conversion to obtain an analog signal, and thus obtaining the excitation signal of a parametric emitting system. The method applies to both parametric array sonar and an air acoustical parametric array system; the application scope of acoustical parametric array is widely expanded, and a predictable huge potential market value is brought.
Description
Technical field
The present invention relates to a kind of Recursive Filtering modulator approach of parametric sonar transient state wideband excitation signal.
Background technology
Parametric sonar, under the nonlinear interaction of water (or air) medium, will produce secondary wave, and this secondary wave has height
The advantage of directive property, thus parametric array is widely applied first in sonar technique.In parameter array 1 system, signal transacting
It is the key technology in parameter array 1 system, signal transacting generally comprises pretreatment and modulation two parts.Earliest parametric array (or claim
Make audio frequency orientation system) signal transacting simply signal is carried out double-sideband amplitude modulation [1], Ran Houzuo as envelope and carrier wave
Launched by parameter array 1 system for pumping signal, but the method is realized simple is that comparison is tight for its distortion of broadband signal
Weight.Square root modulator approach [2] has carried out pre- evolution and has processed to signal, then carries out double-sideband amplitude modulation with carrier wave, should
Method significantly reduces the distortion of secondary wave, if carrying out the compensation filter of 12db/oct, the party before amplitude modulation(PAM) again
Method meets distortionless condition, but for the good 12db/ of transient state broadband signal (especially in the case of unknown signaling parameter)
The compensating filter of oct is to be difficult to realize and realize process underaction, is unfavorable for real-time implementation.Single sideband modulation [3] although
The bandwidth being reduced transducer compared with double sideband modulation is limited, but there is crosstalk to broadband signal.The pre- evolution of double integrator
Method [4-5], is in strict conformity with berktay Far field solution distortionless condition, but when engineering applies the method in practice, right
During signal carries out double integrator realization, due to the impact of the factors such as initial value, its integral result usually ' dissipates '.Other modulation methods
Method [6-9] needs to iterate to calculate, although accessible undistorted after process, amount of calculation is larger to be unfavorable for real-time implementation.The present invention
According to berktay Far field solution, derive former wave envelope and secondary wave seasonal effect in time series recurrence relation, and Recursive Filtering is designed with this
Device carries out signal transacting, thus realizing the Recursive Filtering modulation of parametric sonar transient state wideband excitation signal.Feature of the present invention is
Meet berktay Far field solution distortionless condition, to transient state, broadband, unknown signal (such as voice signal, non-cooperative target under water
Mark radiation or scattering acoustical signal) all can achieve signal transacting, and due to little using recurrence method amount of calculation, it is very beneficial for reality
Real-time processing in engineering.
Content of the invention
It is an object of the invention to provide a kind of Recursive Filtering modulator approach of parametric sonar transient state wideband excitation signal.
The object of the present invention is achieved like this；
(1) pending signal p (n) is obtained using Recursive Filtering device x (n+1)=p (n)+ax (n)-bx (n-1) Recursive Filtering
To x (n+1), 1.80≤a≤1.94,0.81≤b≤0.94,D is constant coefficient；
(2) pass throughEvolution obtains envelope e (n+1), and cc is normal number；
(3) envelope e (n+1) carries out double-side band width with digitized carrier signal after interpolation filter carries out liter sampling
Degree modulation, is converted to analog signal by d/a, obtains the pumping signal of parametric array emission system.
The beneficial effects of the present invention is:
The present invention adopts recurrence method, and the recursion value in each moment only needs to 2 multiplication, 2 sub-additions and 1 evolution fortune
Calculate, the little speed of amount of calculation is fast, is therefore very beneficial for real-time implementation.Also due to adopting recurrence calculation, in the value calculating x (n+1)
Only need to store p (n) and x (n) value and the x in n-1 moment (n-1) value in n moment, therefore required memory space is minimum, can be big
Big reduction hardware cost.With other existing parametric array signal processing method phases on computational complexity, computational efficiency and cost
Ratio has a clear superiority.The present invention is strict to be derived by recurrence relation, therefore at the signal of the present invention according to berktay Far field solution
Reason method meets distortionless condition.The present invention and equally meet distortionless condition double integrator after advantage compared with the extraction of root be,
Little and ' do not dissipate ' by initial value affecting.Compared with the modulator approach of conventional square root pretreatment in this area, the present invention has
Natural undistorted characteristic, comparative test result as shown in Fig. 6 and Fig. 9, same signal, tied by the experiment that the present invention realizes
Fruit need not compensate, and the experimental result of the modulator approach of square root pretreatment occurs in that amplitude loss.Additionally, the present invention with square
The modulator approach that root pre-processes amplitude compensation is compared it is not necessary to design 12/oct Amplitude Compensation wave filter, in actual applications
More flexible, be conducive to the process in the case of unknown signaling is realized.Parametric sonar is the product with high technology content, this
Invention can be applied not only to parametric sonar, is equally equally applicable for acoustical parameter array 1 system (or the referred to as audio frequency of in the air
Orientation system), with application increasingly extensive (parametric array audio frequency directional Transmission system, the sound orientation counteracting system of acoustic parametric arrays
System etc.) it is anticipated that the present invention will have huge market value potentiality.
Brief description
Fig. 1 is overall technological scheme；
Fig. 2 is signal p (n)；
Fig. 3 is the pumping signal envelope that Recursive Filtering goes out；
Fig. 4 is pumping signal；
Fig. 5 is the former ripple signal that hydrophone receives；
Fig. 6 is the secondary wave signal that hydrophone receives；
Fig. 7 is the envelope that square-root method calculates；
Fig. 8 is pumping signal；
Fig. 9 is the secondary wave signal that hydrophone receives；
Figure 10 is parametric array pumping signal；
Figure 11 is the secondary wave signal that hydrophone receives.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described further.
Briefly introduce the know-why derivation of the present invention first, then introduce technical scheme and therein
Technical essential.
The technology of the present invention principle is derived:
Berktay Far field solution isThis differential equation is the letter meeting distortionless condition
Number process basis.Basic ideas of the present invention are according to berktay Far field solution, inversely calculate excitation letter using the method for recursion
Number envelope e (t) form and pending signal p2(t) time series relational expression.If x (t)=e2(t),Then remote
Field solves arrangementThis formula is the Second Order with Constant differential equation, and d is constant coefficient.To this second order differential equation
Carry out discretization (other difference scheme may also be employed) using central difference schemes, obtain Second Order with Constant difference equation p (n)=
X (n+1) -2x (n)+x (n-1), whereinδ t is sampling time interval.Designed according to this difference equation
It is contemplated that the stability of this system, Recursive Filtering device is x (n+1)=p (n)+ax (n)-bx (n-1) to Recursive Filtering device, that is, known
After p (n) and x (n) value in n moment and the x in n-1 moment (n-1) value, recursion can obtain the value of x (n+1), wherein a, b are filtering
The weight coefficient of device.Then, x (n+1) evolution is obtained with the envelope e (n+1) of pumping signal, due to x (n+1) be AC signal (i.e.
Have just have negative), in order to physics can achieve (i.e. evolution occurs without imaginary number), should be during evolutioncc
For normal number, cc is according to actual conditions by p2T () characteristics of signals determines.It is finally using carrier signal sin (ωcT) to envelope e
(n+1) carry out double-sideband amplitude modulation, obtain the pumping signal of parametric array, the dynamic transducer of rear-guard is amplified by power amplifier and sends out
Penetrate sound wave, thus through the nonlinear interaction of medium, being certainly demodulated into desired secondary wave signal p in media as well2(t).
Technical scheme
Overall technological scheme of the present invention comprises 3 parts, as shown in Figure 1.Overall technological scheme: first by pending signal p
N () obtains x (n+1) using Recursive Filtering device x (n+1)=p (n)+ax (n)-bx (n-1) Recursive Filtering, then pass throughEvolution obtains envelope e (n+1), finally carries out double-sideband amplitude modulation with carrier signal and obtains
Parametric array pumping signal.
Technical essential in scheme:
(1) the pending signal p to discretization2N () passes throughArranged (simple in view of processing
Just and not affect result d to take 1, δ t is sampling time interval, n=0,1,2 ...), and take initial value x (0)=x (- 1)=0.
(2) stability, transient characterisitics and the undistorted restriction of equation, Recursive Filtering device x (n+1)=p (n)+ax are considered
N the span of weight coefficient a, b of ()-bx (n-1) is 1.80≤a≤1.94, in actual applications may be used in 0.81≤b≤0.94
Carry out compromise within the range to select.
(3) in order to physics can achieve (occurring without imaginary number during evolution), square root adopts formulaCc is positive constant, can be according to actual conditions by pending signal p2Characteristic (the amplitude of (t)
Dynamic range, frequency range) determine.
(4) envelope e (n+1) carries out double-side band width with digitized carrier signal after interpolation filter carries out liter sampling
Degree modulation, is then converted to analog signal by d/a, obtains the pumping signal of parametric array emission system.Or e (n+1) is led to
Cross after d/a is converted to analog signal and carry out double-sideband amplitude modulation with analog carrier signal, obtain swashing of parametric array emission system
Encourage signal.
Technique effect
(1) present invention adopts recurrence method, and the recursion value in each moment only needs to 2 multiplication, 2 sub-additions and 1 evolution
Computing, the little speed of amount of calculation is fast, is therefore very beneficial for real-time implementation.Also due to adopting recurrence calculation, calculating x's (n+1)
Value only needs to store p (n) and x (n) value and the x in n-1 moment (n-1) value in n moment, and therefore required memory space is minimum, can
Substantially reduce hardware cost.With other existing parametric array signal processing methods on computational complexity, computational efficiency and cost
Compare and have a clear superiority.
(2) present invention is strict is derived by recurrence relation, therefore the signal transacting side of the present invention according to berktay Far field solution
Method meets distortionless condition.
(3) advantage compared with the extraction of root after the double integrator equally meeting distortionless condition for the present invention is, by initial value affecting
Little and ' do not dissipate '.
(4) compared with the modulator approach of conventional square root pretreatment in this area, the present invention has natural undistorted
Characteristic, comparative test result as shown in Fig. 6 and Fig. 9, same signal, the experimental result realized by the present invention need not compensate,
And the experimental result of the modulator approach of square root pretreatment occurs in that amplitude loss.Additionally, after the present invention is pre-processed with square root
The modulator approach of Amplitude Compensation is compared it is not necessary to design 12/oct Amplitude Compensation wave filter, more flexible in actual applications, has
Realize beneficial to the process in the case of unknown signaling.
(5) parametric sonar is the product with high technology content, and the present invention can be applied not only to parametric sonar, with
Sample is equally applicable for the acoustical parameter array 1 system (or referred to as audio frequency directional system) of in the air, with the application day of acoustic parametric arrays
Benefit extensively (parametric array audio frequency directional Transmission system, sound orientation bucking-out system etc.) it is anticipated that the present invention will have huge
Market value potentiality.
Embodiment
Parametric array pumping signal is produced using the inventive method and has carried out large pool test, test in this exposition real
Example.
(1) stimulus form is chirp, start-stop frequency 8khz～10khz, and pulse width is 1ms, carrier wave
Frequency is 85khz.Pending signal as shown in Fig. 2 the pumping signal envelope that gone out using Recursive Filtering of the present invention as shown in figure 3,
Parametric array pumping signal after carrier-modulated is as shown in figure 4, the former ripple that hydrophone receives after the transmitting of parameter array 1 system is believed
Number as Fig. 5, as shown in Figure 6 from the secondary wave signal of demodulation in the water that hydrophone receives.Relatively Fig. 6 and Fig. 2, except be due to
The transient signal start-stop stage that transducer transient effect causes change and a little impact of initial value outside, the present invention effectively realizes
Quick distortionless modulation.
(2) simultaneously in order to project the advantage of the inventive method, contrasted with square-root method.Produced using square-root method
Pumping signal, signal form, with (1), is linear frequency modulation, start-stop frequency 8khz～10khz, and pulse width is 1ms, carrier frequency
For 85khz.Envelope such as Fig. 7 that square-root method produces, the pumping signal producing with carrier modulation is as shown in figure 8, hydrophone receives
As shown in Figure 9 from the secondary wave signal of demodulation in water.Fig. 6 is compared with Fig. 9 it is clear that passing through to swash produced by the inventive method
Encourage signal, after parametric array transmitting, need not compensate from demodulated signal in water, and the reality of the modulator approach of square root pretreatment
Test result and occur in that amplitude loss.
(3) the inventive method is equally effective to simple signal, produces pumping signal using the present invention, and signal is sinusoidal letter
Number, frequency 10khz, pulse width is 1ms, and modulated carrier frequencies are 85khz.The pumping signal producing as shown in Figure 10, listen by water
Device receives as shown in figure 11 from the secondary wave signal of demodulation in water.
Claims (1)
1. a kind of Recursive Filtering modulator approach of parametric sonar transient state wideband excitation signal it is characterised in that:
(1) pending signal p (n) is obtained x using Recursive Filtering device x (n+1)=p (n)+ax (n)-bx (n-1) Recursive Filtering
(n+1), 1.80≤a≤1.94,0.81≤b≤0.94,D is constant coefficient, and δ t is between the sampling time
Every a, b are the weight coefficient of wave filter, p2N () is the pending signal of discretization；
(2) pass throughEvolution obtains envelope e (n+1), and cc is normal number；
(3) envelope e (n+1) carries out double-side band amplitude tune with digitized carrier signal after interpolation filter carries out liter sampling
System, is converted to analog signal by d/a, obtains the pumping signal of parametric array emission system.
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| CN104931955B (en) * | 2015-06-08 | 2017-06-20 | 哈尔滨工程大学 | A kind of method of compensating wide band Sonar system transmission signal amplitude |
| CN105022053B (en) * | 2015-07-31 | 2018-08-17 | 哈尔滨工程大学 | Parametric sonar emits the real-time Kalman filter recursion modulator approach of signal |
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