CN105022053B - Parametric sonar emits the real-time Kalman filter recursion modulator approach of signal - Google Patents
Parametric sonar emits the real-time Kalman filter recursion modulator approach of signal Download PDFInfo
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Abstract
The invention discloses the real-time Kalman filter recursion modulator approaches that parametric sonar emits signal.It regard signal to be modulated as input signal after time discretization samples, the envelope square value of signal is emitted by Kalman filter recursion parametric array；The envelope square value for emitting obtained parametric array signal carries out extraction of square root processing, obtains the envelope value of transmitting signal；Envelope and carrier wave are ultimately formed into parametric array into line amplitude modulation and emit signal.The present invention can carry out distortionless modulation to the signal of transient state broadband unknown waveforms, and calculation amount is small, can effectively inhibit the noise in input signal.
Description
Technical field
The invention belongs to parametric sonar transmitting field of signal modulation more particularly to it is a kind of can be modulated in real time,
Parametric sonar emits the real-time Kalman filter recursion modulator approach of signal.
Background technology
The process of parametric array work：Parametric array emits signal after the transmitting of parameter array 1 system, non-thread due to aqueous medium
Property effect, pumping signal will be demodulated into secondary wave signal certainly in water, which is the sound letter it is desirable that obtaining
Number, which is a non-linear process.It describes parametric array to emit signal with the mathematical relationship of secondary wave signal to be Berktay remote
Field solution.Berktay Far field solutions areWherein E (t) is the envelope that parametric array emits signal, by
Secondary wave signal y (t) is obtained from after demodulating in the nonlinear interaction of water, pumping signal water, which is and environment
With the constant of parametric array device-dependent, do not explain deeply herein.The differential equation is that parametric array emits signal and in water
In from demodulate after obtain the mathematical relationship between secondary wave signal, i.e. secondary wave signal y (t) can be by the packet of parametric array pumping signal
Network square E2(t) it is obtained by derivation twice, this is also the basis that parametric sonar realizes distortion free signal processing.Therefore, join
The key link of the transmitting signal modulation work of amount battle array is exactly inversely to calculate pumping signal envelope E (t) by y (t).
The transmitting signal modulating method of earliest parameter array 1 system (or making audio frequency orientation system) only using signal as
Envelope carries out double-sideband amplitude modulation with carrier wave, and this method realizes simple but its distortion is than more serious for broadband signal
's.Square root modulator approach has carried out pre- evolution to signal and has handled, and then carries out double-sideband amplitude modulation, this method with carrier wave again
The apparent distortion for reducing secondary wave, if carrying out the compensation filter of 12dB/oct again before amplitude modulation, this method is full
Sufficient distortionless condition, however for broadband signal (especially in the case of unknown signaling parameter, such as voice signal, communication sonar
The random coding signal of transmitting) compensating filter of good 12dB/oct is to be not easy to realize and realize process underaction,
It is limited using by actual conditions.Although single sideband modulation reduces the bandwidth limitation of energy converter compared with double sideband modulation,
But there are serious crosstalks to broadband signal.The pre- evolution method of double integrator, is undistorted in strict conformity with Berktay Far field solutions
Condition, but when engineering applies this method in practice, during carrying out double integrator realization to signal, due to factors such as initial values
Influence, integral result usually ' dissipates '.Other modulator approaches need to iterate to calculate, although accessible undistorted after processing,
But calculation amount is larger to be unfavorable for real-time implementation.
Invention content
The object of the present invention is to provide a kind of distortionless modulation, calculation amount can be carried out to the signal of transient state broadband unknown waveforms
Small, parametric sonar emits the real-time Kalman filter recursion modulator approach of signal.
Parametric sonar emits the real-time Kalman filter recursion modulator approach of signal, including following steps,
Step 1：It regard signal to be modulated as input signal after time discretization samples, passes through Kalman filter recursion
Parametric array emits the envelope square value x (n+1) of signal；
Step 3：Envelope E (n+1) and carrier wave are ultimately formed into parametric array into line amplitude modulation and emit signal.
This law invention parametric sonar emits the real-time Kalman filter recursion modulator approach of signal, can also include：
1, the observational equation in Kalman filter is：
State equation in Kalman filter is：
X (n+1)=A × X (n)+Γ w (n)
Advantageous effect
Basic ideas of the present invention are to derive passing for former wave envelope and secondary wave time series according to Berktay Far field solutions
Relationship is pushed away, and observational equation is built with this, and state equation is built by derivative continuity, to design Kalman Recursive Filterings
Device as core again by evolution processing and double sideband modulation, and then realizes the random waveform excitation in parametric sonar broadband
The recursion of signal is modulated.Feature of the present invention is：1. meeting Berktay Far field solution distortionless conditions, to transient state, broadband, unknown wave
Signal (such as voice signal, subsurface communication sonar random coding signal, underwater noncooperative target radiation or the scattering acoustical signal of shape
Deng) distortionless modulation can be achieved；2. due to small using recurrence method calculation amount, it is very beneficial in real time locating in Practical Project
Reason；3. Kalman Recursive Filterings device can effectively inhibit the noise in input signal, reduces and signal modulation effect is emitted to parametric array
Influence.
(1) present invention uses recurrence method, and the small speed of calculation amount is fast, on the desktop (CPU3.2GHz, memory 8G,
Operating system win7, Matlab software), using the parametric array of the wideband correlation of 400 sampled points of recursion of the present invention
It is 0.009132 second the time required to emitting the envelope of signal, about 23 microsecond of calculating time each put, therefore this method has very much
It is handled in real time conducive to realizing.In addition, during recurrence calculation, the y (n) for storing the n moment is only needed when calculating the value of X (n+1)
With X (n) values, therefore required memory space very little can substantially reduce hardware cost.Therefore computational complexity, computational efficiency and
It has a clear superiority in cost.
(2) present invention is strictly derived by signal sequence to be modulated and parametric array transmitting signal according to Berktay Far field solutions
The recurrence relation of envelope square, i.e. constructed observational equation and state equation, therefore this parametric array emits signal modulating method
Distortionless condition is met to random waveform signal (transient state, broadband, random coded), i.e. parametric array emits signal in aqueous medium
In from demodulate after signal waveform it is undistorted.
(3) present invention during kalman filters recursion, has and believes input compared with other existing modulator approaches
The function of number filtering out noise can effectively inhibit the noise in input signal, reduce the shadow for emitting parametric array signal modulation effect
It rings.It generates parametric array using the present invention and common square root modulator approach and emits signal, carried out large pool experiment, gone forward side by side
Comparative study is gone.The comparison result of the method for the present invention and square root modulator approach is shown as shown in Figure 2, Figure 3 and Figure 4, inputs noise
Than being respectively 20dB, 14dB and 6dB, noise is white noise, and signal is linear FM signal (bandwidth 5-8kHz, pulsewidth 1ms).By
Figure as it can be seen that with signal-to-noise ratio reduction, noise influences increasingly severe, such as Fig. 4, input signal-to-noise ratio to square root modulator approach
For 6dB when, the wave distortion from after demodulating is serious in water, however compares identical signal, and noise is to modulator approach shadow of the present invention
Very little is rung, waveform is almost undistorted, and the noise of the secondary wave in water from after demodulating is also smaller.
(4) compared with the pretreated modulator approach of common square root in this field, the present invention has naturally undistorted
Characteristic, comparative test result as shown in figure 5, same signal, the experimental result realized through the invention without compensation, and square
There is amplitude loss in the experimental result of the pretreated modulator approach of root.In addition, the present invention is mended with square root pretreatment amplitude
The modulator approach repaid is compared, and 12/oct Amplitude Compensation filters need not be designed, more flexible in practical applications, is conducive to pair
Processing in the case of unknown signaling is realized.
(5) present invention compared with the extraction of root after the double integrator for equally meeting distortionless condition the advantages of be, in real work
In it is small by initial value affecting, and without ' diverging ' phenomenon.
(6) parametric sonar is the product for having high technology content, is applied to directional transmissions, underwater sound communication, orientation and offsets
Equal fields, in addition the method for the present invention can be applied not only to parametric sonar, the acoustical parameter being equally equally applicable in air
Array 1 system (or making audio frequency orientation system), with increasingly extensive (the parametric array audio frequency directional transmission system of the application of acoustic parametric arrays
System, sound orientation bucking-out system etc.), it is anticipated that the present invention will have huge market value potentiality.
Description of the drawings
The real-time Kalman filter recursion modulator approach that Fig. 1 parametric sonars emit signal handles block diagram；
Fig. 2 input signal-to-noise ratios are the comparison of 20dB this method and square root modulator approach, the modulation of Fig. 2 (a) the method for the present invention
Signal waveform of the transmitting signal in aqueous medium from after demodulating, the transmitting signal of the common square root modulator approaches of Fig. 2 (b) exists
Signal waveform in aqueous medium from after demodulating；
Fig. 3 input signal-to-noise ratios are the comparison of 14dB this method and square root method, the hair of Fig. 3 (a) the method for the present invention modulation
Signal waveform of the signal in aqueous medium from after demodulating is penetrated, the common square root modulator approaches of Fig. 3 (b) emit signal in aqueous medium
In from demodulate after signal waveform；
Fig. 4 input signal-to-noise ratios are the comparison of 6dB this method and square root method, the transmitting of Fig. 4 (a) the method for the present invention modulation
Signal waveform of the signal in aqueous medium from after demodulating, the common square root modulator approaches of Fig. 4 (b) emit signal in aqueous medium
From the signal waveform after demodulation；
The comparison of this method and square root method when Fig. 5 is without input noise, the transmitting letter of Fig. 5 (a) the method for the present invention modulation
Signal waveform number in aqueous medium from after demodulating, the common square root modulator approaches of Fig. 5 (b) emit signal in aqueous medium from
Signal waveform after demodulation.
Specific implementation mode
The present invention is described in further details below in conjunction with attached drawing.
Distortionless modulation, in real time processing can not be taken into account simultaneously for existing parametric array transmitting signal modulating method and inhibit to make an uproar
The problem of sound, the present invention propose that a kind of parametric array emits the real-time Kalman filter recursion modulator approach of signal, and this method can be to wink
The signal of state broadband unknown waveforms carries out distortionless modulation, and calculation amount is small to be handled in real time, and has to input signal and filter out
The function of noise can effectively inhibit the noise in input signal, reduce the influence for emitting parametric array signal modulation effect.
This method processing procedure is by 3 part organic compositions, as shown in Figure 1, its general thought is：Signal to be modulated passes through special
Door design Kalman filter recursion go out parametric array transmitting signal envelope square value, the Kalman filter be based on
It is specially designed on the observational equation and state equation built in Berktay Far field solutions and derivative continuity, then adds normal number
After carry out extraction of square root processing, modulated finally by amplitude to be formed parametric sonar transmitting signal.It is logical that signal to be modulated is explained in detail below
Cross the modulated process of above-mentioned 3 part：
(1) step：By signal to be modulated (such as voice signal, subsurface communication sonar random coding signal, underwater non-cooperation
Target emanation or scattering acoustical signal etc.) input signal is used as after time discretization samples, it is filtered by the Kalman specially designed
Wave recursion parametric array emits the envelope square value of signal.Kalman filter recursion is based on observational equation and state equation
, constructed observational equation and state equation are one of core of the invention in the Kalman filter, as follows：
1. constructed observational equation (matrix form)：
2. constructed state equation is (matrix form)：X (n+1)=A × X (n)+Γ w (n)
(2) step：The envelope square value for going out to emit signal to Kalman filter recursion in (1) step carries out at extraction of square root
Reason, to obtain the envelope value of transmitting signal.In order to which physics can be realized and (not occur imaginary number when evolution), square root uses formulaCc is positive constant, can be determined by the characteristic of pending signal y (t) according to actual conditions, such as
Amplitude dynamic range, frequency range.
(3) step：Envelope E (n+1) and carrier wave are ultimately formed into parametric array into line amplitude modulation and emit signal.
The observational equation for building kalman filters in the present invention is given below and state equation mathematical derivation process is as follows：
Berktay Far field solutions can be abbreviated asD is the factor related with parametric array and medium parameter,
It is known quantity.Y (t) is known signal to be modulated (such as voice, communication information code), and E (t) is that parametric array to be asked emits
The envelope of signal.Observational equation constructed by the present invention is to handle to obtain using finite difference on the basis of Berktay Far field solutions
Envelope E (t) and pending signal y (t) time series relational expression.If x (t)=E2(t), then Far field solution arrangement isThe formula is the Second Order with Constant differential equation, and D is constant coefficient.Finite difference is used to the second order differential equation
Discretization obtains Second Order with Constant difference equationWherein Δ t is discrete sampling
Time interval.In view of often there is noise jamming in practice, it can thus be concluded that observational equation (matrix form) is：V (n) is noise jamming, and mean value is that 0 variance is R.
Some explanations of the present invention：
1. submarine target acoustic detection
In underwater acoustic detection system, when using parametric emission battle array detecting underwater object, the present invention can be used for parametric array detection
The transmitting arbitrary signal waveform of system.Such as the pulse signal of arbitrary envelop forms, the FM signal of arbitrary frequency-modulated form, at random
Encoded signal etc..
2. parametric array orients acoustic transmissions system and underwater sound communication
Due to the sharp directive property of parametric array, with directional transmissions characteristic, the diminishbb underwater sound in underwater sound communication
Multi-path interference simultaneously can realize the advantages such as secrecy beam communication.It can be directly to voice, encoding communication contents signal etc. using the present invention
Undistorted modulation is carried out, and input noise can be inhibited, realizes excellent communication performance.Same this technology can also be used for air
In parametric array audio frequency directional Transmission system.
3. direct sound is offset
The adaptive cancellation of orientation broadband noise.The present invention is combined with adaptive technique, it can be achieved that orienting actively wide
Band noise cancellation.Such as reduce noise on a certain specific direction, the present invention can be used, undistorted modulation, knot are carried out to noise
Adaptive technique, moment tracking noise waveform are closed, the active noise being oriented is offset.
5. in amplitude modulation, can to envelope E (n+1) by interpolation filter carry out liter after sampling with digitized carrier wave
Signal carries out double-sideband amplitude modulation or single-sideband amplitude modulation, is then converted to analog signal by D/A, obtains parameter paroxysm
Penetrate the pumping signal of system.Also E (n+1) can be converted to by D/A and carries out double-side band with analog carrier signal after analog signal
Amplitude is modulated or single-sideband amplitude modulation, obtains the pumping signal of parametric array emission system.
Claims (1)
1. parametric sonar emits the real-time Kalman filter recursion modulator approach of signal, it is characterised in that：Modulated signal passes through
The modulated process of following 3 parts：
(1) step：It regard signal to be modulated as input signal after time discretization samples, passes through Kalman filter recursion parameter
The envelope square value of signal is penetrated in paroxysm；Kalman filter recursion is the Kalman filters based on observational equation and state equation
Constructed observational equation and state equation are as follows in wave device：
1. constructed observational equation：
Wherein y (n) is known signal sequence to be modulated, and Δ t is discrete sampling time interval, and D is set with environment and parametric array
Standby related known constant, C=[1-2 1],V (n) is noise jamming, and mean value is that 0 variance is R, x
(n)=E2(n), E (n) is the envelope sequence of parametric array transmitting signal to be asked；
2. constructed state equation is：X (n+1)=A × X (n)+Γ w (n)
Wherein,W (n) is that white Gaussian noise is random
Process, mean value are that 0 variance is Q；
On the basis of above constructed observational equation and state equation, using Kalman filter algorithm, you can recursion goes out ginseng
The envelope square value x (n+1) of signal is penetrated in amount paroxysm；Practical when calculating, Q takes a positive small value, and R can according to the characteristic of noise and
It determines, recursion initial value
(2) step：The envelope square value for going out to emit signal to Kalman filter recursion in (1) step carries out extraction of square root processing, from
And obtain the envelope value of transmitting signal；Square root uses formulaCc is positive constant, according to
Actual conditions are determined by the characteristic of pending signal y (t)；
(3) step：Envelope E (n+1) and carrier wave are ultimately formed into parametric array into line amplitude modulation and emit signal；
Berktay Far field solutions are abbreviated asY (t) is pending signal, and E (t) is that parametric array to be asked emits
The envelope of signal；Constructed observational equation is to handle to obtain envelope E using finite difference on the basis of Berktay Far field solutions
(t) with pending signal y (t) time series relational expression；If x (t)=E2(t), then pending signal isIt should
Formula is the Second Order with Constant differential equation；Finite difference discretization is used to the second order differential equation, obtains observational equationWherein Δ t is discrete sampling time interval；In view of often making an uproar in practice
Acoustic jamming, it can thus be concluded that observational equation is：V (n) is noise jamming, and mean value is that 0 variance is R；
By derivative continuity, there is relational expression：Above formula is arranged, it can structure
It is matrix form to build state equation：X (n+1)=A × X (n)+Γ w (n), wherein W (n) is white Gaussian noise random process, and mean value is that 0 variance is Q；In view of recursion
Wave stability is filtered, matrix is set
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