CN105651372B - A kind of sonic velocity measurement method using multi-carrier frequency signals - Google Patents
A kind of sonic velocity measurement method using multi-carrier frequency signals Download PDFInfo
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- CN105651372B CN105651372B CN201511024932.0A CN201511024932A CN105651372B CN 105651372 B CN105651372 B CN 105651372B CN 201511024932 A CN201511024932 A CN 201511024932A CN 105651372 B CN105651372 B CN 105651372B
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- velocity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H5/00—Measuring propagation velocity of ultrasonic, sonic or infrasonic waves, e.g. of pressure waves
Abstract
The present invention provides a kind of sonic velocity measurement methods using multi-carrier frequency signals, emit multi-carrier frequency signals using single transmitting array element, the single array element that receives acquires the signal, the signal component on different carrier frequency is extracted, the out of phase delay that the signal component corresponding to different carrier frequency generates after propagating same distance is obtained；It utilizes the frequency component on the multiple carrier frequency extracted to build covariance matrix, the two-dimentional weighing vector of design is tieed up along apart from the peacekeeping velocity of sound；Two-dimensional scan is carried out to covariance matrix along apart from peacekeeping velocity of sound dimension using the weighing vector, obtains and ties up two dimension output result apart from the peacekeeping velocity of sound；The peak value for searching for two dimension output result extracts the acoustic velocity value at peak value as acoustic velocity measutement result.The present invention is not required to accurately know acoustic propagation distance, also need not accurately know the time of acoustic propagation, can obtain the high-acruracy survey result close with true acoustic velocity value.
Description
Technical field
The present invention relates to a kind of sonic velocity measurement methods.
Background technology
The underwater velocity of sound is one of the important parameter of underwater sound equipment during the work time, is had to the performance of underwater sound equipment important
It influences.Since the velocity of sound can change with the difference of temperature, pressure and salinity etc..Therefore, sound velocity in seawater is accurately measured, is the underwater sound
One of the premise that equipment can effectively work.
Currently, mainly having the indirect method of measurement and the direct method of measurement for the method for underwater acoustic velocity measutement.The indirect method of measurement is just
It is that converse the velocity of sound, (Chen Jian are based on signal by measurement water temperature, salinity and pressure and other parameters, and using empirical equation
The sound velocity in seawater method of measuring National University of Defense technology Master's thesis of phase difference, 2011.).The direct method of measurement is directly to measure
With the relevant physical quantity of the velocity of sound, acoustic velocity value (seawater of the Chen Jian based on signal phase difference is directly obtained by certain transformational relation
Sonic velocity measurement method research National University of Defense technology Master's thesis, 2011.).
One of common direct method of measurement is time difference method.Time difference method measures the time of Acoustic Wave Propagation in known distance, and profit
The velocity of sound is acquired with distance divided by time.Therefore, time difference method needs accurately know acoustic propagation distance and ultrasonic transmission time.If being estimated
There are errors or synchronous error to cause timing error for the distance of meter, and leading to the measured velocity of sound, there are larger errors.
Invention content
In order to which acoustic velocity measutement error, the present invention propose the method for getting over jet lag caused by range error and time synchronization error
A method of real-time acoustic velocity measutement being carried out using multi-carrier frequency signals, is had not after propagating same distance using multi-carrier frequency signals
The characteristics of with phase shift, build the covariance matrix of multi-carrier frequency signals, at the same along apart from the peacekeeping velocity of sound tie up design two dimension weight to
It measures and is scanned, acoustic velocity value is extracted by searching the peak value in two-dimensional scan result.
The technical solution adopted by the present invention to solve the technical problems includes the following steps：
2) L discrete frequency component X structure L × L dimension covariance matrixes R=XX is utilizedH；
Two-dimentional weighing vector is built using Capon methodsWherein, R-1For association side
The inverse matrix of poor matrix R；Two-dimensional scan, corresponding output result b (r, c)=w are carried out along being tieed up apart from the peacekeeping velocity of soundH(r,c)
Rw(r,c)；The peak value of the upper two-dimensional scan output of detection range peacekeeping velocity of sound dimension, extracts the acoustic velocity value at peak value, obtains velocity of sound survey
Measure result.
The step 2) can also be handled using MUSIC methods to substitute Capon methods, first to covariance when processing
Matrix R carries out feature decomposition, obtains the matrix u that the corresponding feature vector of noise subspace is formedN, then calculate apart from peacekeeping
Two dimension output in velocity of sound dimensionThe upper two dimension of detection range peacekeeping velocity of sound dimension
The peak value of output is scanned, the acoustic velocity value at peak value is extracted, obtains acoustic velocity measutement result.
The beneficial effects of the invention are as follows：Be not required to accurately know acoustic propagation distance, also need not accurately know acoustic propagation when
Between, the high-acruracy survey result close with true acoustic velocity value can be obtained.
Description of the drawings
Fig. 1 is the coordinate schematic diagram for emitting array element and reception array element when carrying out acoustic velocity measutement；
Fig. 2 is the flow chart of key step in the present invention；
Fig. 3 is that the signal of processing acquisition obtains the flow chart of acoustic velocity measutement result；
Fig. 4 is the spectrogram of multi-carrier frequency signals in embodiment；
Fig. 5 is the handling result schematic diagram that Capon methods are used in the present invention, wherein (a) is to use this in embodiment
In invention Capon methods obtain apart from the peacekeeping velocity of sound tie up two-dimensional scan as a result, (b) be in the present invention Capon methods obtain two dimension
Result of the scanning result toward velocity of sound dimension projection；
Fig. 6 is the handling result schematic diagram that MUSIC methods are used in the present invention, wherein (a) is to use this in embodiment
In invention MUSIC methods obtain apart from the peacekeeping velocity of sound tie up two-dimensional scan as a result, (b) be in the present invention MUSIC methods obtain two dimension
Result of the scanning result toward velocity of sound dimension projection；
Fig. 7 is in embodiment in 10 duplicate measurements in traditional time difference method, this method in Capon methods and the present invention
The acoustic velocity measutement comparative result figure of MUSIC methods.
Specific implementation mode
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention the main contents include：
1. receiving using single transmitting array element and individually array element.Single transmitting array element emits the equal multi-carrier frequency of adjacent frequency difference
Signal, the single array element that receives acquire the signal.
2. acquired multi-carrier frequency signals is utilized to build covariance matrix, structure two dimension weighting is tieed up along apart from the peacekeeping velocity of sound
Vector, while being scanned along apart from peacekeeping velocity of sound dimension, obtain the two dimension output tieed up apart from the peacekeeping velocity of sound.It is defeated to search for the two dimension
The peak value gone out, using corresponding acoustic velocity value as acoustic velocity measutement value.
3. giving the acoustic velocity measutement of method in traditional time difference method and the present invention as a result, with this by Computerized Numerical Simulation
It demonstrates institute's extracting method of the present invention and obtains the velocity of sound of higher precision under the premise of can be existing for range error and time error and survey
Measure result.
The technical solution adopted by the present invention can be divided into following 2 steps：
1) emit multi-carrier frequency signals using single transmitting array element, the single array element that receives acquires the signal, extracts different carrier frequency
On signal component.Due to having frequency difference, signal component meeting after propagating same distance corresponding to different carrier frequency between carrier frequency
Generate different phase delay.
2) it utilizes the frequency component on the multiple carrier frequency extracted to build covariance matrix, is set along apart from peacekeeping velocity of sound dimension
The two-dimentional weighing vector of meter.Two-dimensional scan is carried out to covariance matrix along apart from peacekeeping velocity of sound dimension using the weighing vector, is obtained
Two dimension output result is tieed up apart from the peacekeeping velocity of sound.The peak value for searching for two dimension output result, extracts the acoustic velocity value at peak value, and with this
As acoustic velocity measutement result.
It elaborates below to each step of the present invention：
Particular content involved by step 1) is as follows：
If individually receiving array element is located at coordinate origin, the single array element that emits is located at distance r0Place, coordinate schematic diagram such as Fig. 1
Shown, wherein box is transmitting array element, and circle is to receive array element.Emit array element and emits multi-carrier frequency signals.The multi-carrier frequency signals are by L
A simple signal composition with different frequency, frequency is the dimensional vectors of L × 1 f：
Wherein, flFor the frequency values on a carrier frequency of l (l=1,2 ..., L).
It receives array element and acquires the signal, and from the discrete frequency component extracted in signal on L carrier frequency.If the L extracted
A discrete frequency component is X, is represented by：
Wherein, xlFor the discrete frequency component on a carrier frequency of l (l=1,2 ..., L) for extracting.
Since the propagation distance of multi-carrier frequency signals is r0, to the phase delay in L discrete frequency component, a (r0), it can
The complex exponential form being expressed as：
Wherein, c0For the actual value of the velocity of sound.
Particular content involved by step 2) is as follows：
The L discrete frequency component X extracted using formula (2) ties up covariance matrix R to build L × L, i.e.,：
R=XXH (4)
Through-beam Series (3) designed distance peacekeeping velocity of sound ties up two-dimensional scan vector a (r, c), i.e.,：
Wherein, r is the distance value of variation, and c is the acoustic velocity value of variation.
Following two-dimentional weighing vector is built using Capon methods：
Wherein, R-1For the inverse matrix of covariance matrix R, []HIndicate conjugate transposition.Using formula (6) along apart from peacekeeping sound
Speed dimension carries out two-dimensional scan, and corresponding output result can be expressed as：
B (r, c)=wH(r,c)Rw(r,c) (7)
In addition it is also possible to be handled using MUSIC methods.Feature decomposition first is carried out to covariance matrix R, obtains noise
The matrix u that the corresponding feature vector in subspace is formedN, while calculating the two dimension output as follows in peacekeeping velocity of sound dimension：
Formula (7) and formula (8) are indicated along the result for tieing up progress two-dimensional scan apart from the peacekeeping velocity of sound.In scanning process,
As parameter (r, c) and the true parameter (r in scan vector0,c0) in correspondence when, strongest output can be obtained.Therefore, pass through
The peak value of the upper two-dimensional scan output of detection range peacekeeping velocity of sound dimension, and the acoustic velocity value at peak value is extracted, it can obtain in the present invention
The acoustic velocity measutement result of institute's extracting method.
The main flow of the present invention using multi-carrier frequency signals as shown in Fig. 2, carry out the specific stream of acoustic velocity measutement in the present invention
Journey is as shown in Figure 3.
It is measured as example with the typical underwater velocity of sound, provides the embodiment of the present invention.Embodiment is carried out using computer
Numerical simulation, to examine the effect of institute's extracting method of the present invention.
If the true velocity that sound wave is propagated under water is 1490 meter per seconds.Receive array element and be located at coordinate origin, emit array element and
The distance for receiving array element is 10 meters.Emit signal of the array element transmitting with L=8 carrier frequency, wherein 8 carrier frequency are respectively
74.65kHz, 74.75kHz, 74.85kHz, 74.95kHz, 75.05kHz, 75.15kHz, 75.25kHz and 75.35kHz, signal
Pulsewidth is 200 milliseconds, and corresponding frequency spectrum is as shown in Figure 4.Receiving terminal sample frequency is set as 225kHz, receives PSNR power signal-to-noise ratio and is set as
20dB, institute's plus noise are white Gaussian noise, and noise level is defined using band level.Due to inaccurately knowing the actual value of distance, only
It is 10 meters or so to know distance probably, therefore range sweep range is set as 8 meters to 12 meters.Meanwhile transmitting terminal and receiving terminal
Time synchronization error is set as 0.1 millisecond.In addition, being set as velocity of sound scanning range from 1480 meter per seconds to 1500 meter per seconds.
Flow according to fig. 3 handles sampled signal, obtains the handling result of method in the present invention, respectively such as Fig. 5
Shown in Fig. 6.Wherein, Fig. 5 is the handling result using Capon methods in the method for the present invention, and Fig. 6 is using in the method for the present invention
The handling result of MUSIC methods.From Fig. 5 (a) and Fig. 6 (a) it is found that Capon methods and MUSIC methods in the present invention can be true
Peak value is formed at distance and the velocity of sound.Fig. 5 (b) and Fig. 6 (b) be by two-dimensional scan result toward velocity of sound dimension project as a result, from
In known to the present invention in Capon methods and MUSIC methods form peak value on the position of the true velocity of sound.
In order to be compared, the acoustic velocity measutement result of traditional time difference method is given.Acoustic velocity value measured by time difference method is equal to
The distance of acoustic propagation divided by time used, (sound velocity in seawater method of measuring science and techniques of defence of the Chen Jian based on signal phase difference were big
Master's thesis, 2011.).The known acoustic propagation distance of time difference method needs and ultrasonic transmission time, but the exact value away from discrete time
It is estimation, therefore, there are errors for the estimated value of time difference method middle-range discrete time.In order to embody this effect, in simulations
If the distance value in traditional time difference method meets, mean value is 10, variance is 2.5 × 10-5Gaussian Profile；If in traditional time difference method
It is 6.7114 × 10 that time value, which meets mean value,-3, variance be 8.359070939180712 × 10-37Gaussian Profile.Acoustic velocity measutement
Emulation experiment is repeated 10 times, uses the MUSIC methods in the Capon methods and the present invention in traditional time difference method, the present invention every time
It is handled.The results are shown in Figure 7 for 10 measurements.In Fig. 7, the velocity of sound of Capon methods and MUSIC methods in the method for the present invention is surveyed
Result is measured near actual value (1490 meter per second), the average value of 10 measurements is 1490.02 meter per seconds；Traditional time difference method by
It being influenced in by distance and time error, the disturbance of 10 measured values is larger, and the average values of 10 measurements are 1490.212 meters/
Second.From the result of Fig. 7 it is found that the Capon methods and MUSIC methods in the method for the present invention be not by the shadow of range error and time error
It rings, obtains acoustic velocity measutement result more accurate than traditional time difference method.
According to embodiment, it is believed that the method for carrying out acoustic velocity measutement using multi-carrier frequency signals proposed in the present invention
It is feasible.
Claims (2)
1. a kind of sonic velocity measurement method using multi-carrier frequency signals, it is characterised in that include the following steps：
1) individually to receive array element as coordinate origin, the single array element that emits is located at distance r0Place, transmitting array element transmitting multi-carrier frequency letter
Number, the multi-carrier frequency signals are made of the L simple signals with different frequency, and frequency is the dimensional vector f of L × 1,Wherein, flFor the frequency values on first of carrier frequency；
The array element acquisition multi-carrier frequency signals are received, the discrete frequency component on L carrier frequency is extractedWherein, xl
For the discrete frequency component on first of carrier frequency extracting；
Phase delay in L discrete frequency componentWherein, c0For the true of the velocity of sound
Value；
2) L discrete frequency component X structure L × L dimension covariance matrixes R=XX is utilizedH；
The designed distance peacekeeping velocity of sound ties up two-dimensional scan vectorWherein, r be variation away from
From value, c is the acoustic velocity value of variation；
Two-dimentional weighing vector is built using Capon methodsWherein, R-1For covariance square
The inverse matrix of battle array R；Two-dimensional scan, corresponding output result b (r, c)=w are carried out along being tieed up apart from the peacekeeping velocity of soundH(r,c)Rw(r,
c)；The peak value of the upper two-dimensional scan output of detection range peacekeeping velocity of sound dimension, extracts the acoustic velocity value at peak value, obtains acoustic velocity measutement knot
Fruit.
2. the sonic velocity measurement method according to claim 1 using multi-carrier frequency signals, it is characterised in that：The step 2)
In, it is handled using MUSIC methods to substitute Capon methods, feature decomposition first is carried out to covariance matrix R when processing, obtained
The matrix u that the corresponding feature vector of noise subspace is formedN, then calculate the two dimension output in peacekeeping velocity of sound dimensionThe peak value of the upper two-dimensional scan output of detection range peacekeeping velocity of sound dimension, extraction
Acoustic velocity value at peak value obtains acoustic velocity measutement result.
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| JP6253296B2 (en) * | 2012-08-28 | 2017-12-27 | キヤノン株式会社 | Subject information acquisition apparatus, display method, and program |
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| CN101718868A (en) * | 2009-12-08 | 2010-06-02 | 中国船舶重工集团公司第七一五研究所 | Multi-split beam phase difference-based multi-beam sounding method |
| CN104678384A (en) * | 2013-11-28 | 2015-06-03 | 中国科学院声学研究所 | Method for estimating underwater target speed by using sound pressure difference cross-correlation spectrum analysis of beam fields |
| JP2015219138A (en) * | 2014-05-19 | 2015-12-07 | 株式会社小野測器 | Sound source survey device, sound source survey method, and sound source survey program |
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