CN106066468B - It is a kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum - Google Patents
It is a kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum Download PDFInfo
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- 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
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Abstract
The invention belongs to underwater sound direction finding research fields, and in particular to a kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum.The present invention includes：After the sound pressure signal received is converted to frequency-region signal, makees the conventional beamformer processing of frequency domain broadband, obtain luv space spectrum matrix；Wherein, spatio-spectral matrix refers to the matrix of the spatial spectrum type of output；Two-way first order recursive is carried out to the luv space spectrum matrix that step (1) obtains to be filtered, the spatial spectrum after obtaining smoothly；According to obtained smooth Spaces spectrum, D is improved on the basis of smooth Spaces are composedTA decibel obtains the thresholding of spectral peak screening.This method can carry out peak choosing to spatial spectrum, orientation estimation is carried out to the signal within the scope of spectral peak, abatement inhibition is carried out to the survey of pseudo- peak by comparing estimated result and spectrum peak position, and then overcomes the problems, such as port and starboard ambiguity under Low SNR, improves Faint target detection ability in same sex noise background.
Description
Technical field
The invention belongs to underwater sound direction finding research fields, and in particular to a kind of vector array based on acoustic pressure, vibration velocity Mutual spectrum is left
Starboard resolving method.
Background technology
In underwater sound direction finding research field, the direction finding of towing line array is according to being that different direction sound-source signal reaches in linear array
The delay inequality of different array elements is different.However the hydrophone for forming towing line array is typically non-direction, as shown in Figure 1, figure
In 1 indicate circular conical surface, 2 indicate the hydrophone of towing line arrays, and incident signal reaches array on the identical circular conical surface of corner
The response of each array element is completely the same, i.e., the delay inequality that incident signal generates in each array element on identical circular conical surface is
It is identical, therefore the target on same circular conical surface can not be differentiated, there are problems that objective fuzzy.It is remote in a general case
When direction finding, using linear array as symmetry axis, the target from array side can be in the response of symmetry axis both sides it is identical,
Therefore will produce two same orientation angles at two orientation of same signal in the horizontal plane, one be signal true bearing,
Another is referred to as image orientation, true bearing and image orientation due to the azimuth that the port and starboard ambiguity of scalar matrix generates
It is symmetrical about array.Actually or distinguishing signal comes from larboard starboard, i.e., usually said dragging line battle array port/starboard discrimination problem.
Solve the problems, such as that the common method of port/starboard discrimination shares two major classes in general, one kind is oneself for utilizing this warship big
Body is motor-driven, according to the variation of target bearing in the time-bearing history figure of sonar or according to complicated tracking algorithm, sentences
Break the port and starboard residing for target.It is another kind of to may be summarized to be multi-thread battle array method, using twin-line array or ternary array in towing alignment
The receiving terminal of battle array solves the problems, such as port and starboard ambiguity.Such methods are mainly the array element knot for changing starboard ambiguity of towed linear array sonar and receiving basic matrix
Structure, there are mainly three types of the methods used in external equipment on Active Duty:Ternary hydrophone group, twin-line array mode and vector hydrophone.
Herein for vector hydrophone, this direction proposes new solution.Vector hydrophone can obtain sound field simultaneously
Acoustic pressure and vibration velocity signal, possess information more more abundant than traditional pressure hydrophone, single vector hydrophone can be realized to mesh
Target detects and 360 degree without direction finding is obscured, for estimating the detection of target and orientation.Currently used several single vector water are listened
The direction estimation method of device has Acoustic Averager's method, acoustic pressure, vibration velocity Mutual spectrum, cross-spectrum statistics with histogram method, LOFAR line spectrums orientation
The estimation technique and the DEMON spectrum orientation estimations technique etc..It is a kind of based on acoustic pressure, the improved cross-spectrum statistics with histogram method of vibration velocity Mutual spectrum
Excellent broadband multi-target aspect method of estimation.Although detection to target can be realized in single vector hydrophone and orientation is estimated
Meter, but with people to vector hydrophone study deeply with apply it is extensive, it has been found that some of vector hydrophone are not
Foot and disadvantage, such as the reliability of single system are poor, and for known space dipole directive property, orientation accuracy is not
Height, spatial resolution is not enough etc..Therefore, it is current development trend to be detected to low signal-to-noise ratio target using vector array.
A gust processing gain can be obtained by forming technology using array beams, improve output signal-to-noise ratio.And common acoustic pressure towed array is to mesh
Mark carries out there are problems that port and starboard ambiguity when direction finding, i.e., can not resolution target come from the left side or right side of battle array, but vector
Towed array has the ability of target port and starboard respectively, and compared with same array length and the acoustic pressure battle array of array number, and vector array has more
High signal processing gain, thus with more preferably interference free performance.
Underwater signal is often broadband, is had for the current vector towed array port/starboard discrimination method of broadband signal：
The Acoustic Averager's method of time domain, the cross-spectrum histogram method of frequency domain and direct vector beam-forming schemes.Acoustic Averager's method can not
Multi-sources distinguishing is carried out, is only capable of providing the synthesis orientation of multiple target, it is distinguishable if Acoustic Averager's are used in conjunction with cross-spectrum histogram
Go out the target bearing of different frequency characteristic, but the multiple target of identical frequency still can not be differentiated.Direct vector wave beam shape
At the shortcomings that be its port/starboard discrimination ability in all angles be non-uniform, resolving effect when target is located at the normal direction of battle array
It is good, closer to battle array end to when resolution capability it is poorer.Therefore be not easily distinguishable target when there are two or more targets are close, and
Weak signal target can be usually covered in the presence of strong jamming.
Here a kind of vector array target port/starboard discrimination method based on array cross-spectrum statistics with histogram method is proposed, it can be with
Effectively same frequency or non-same frequency multiple target are differentiated, it has 360 degree of uniform port and starboards of omnidirectional compared with conventional method
Resolution capability, and the advantages of target signal to noise ratio can be effectively improved, enhance the degree of reliability of Bearing.Therefore it can reach
To better multiple target port/starboard discrimination effect.
Find there are following documents straight to the port/starboard discrimination problem of vector array, single vector cross-spectrum respectively by literature search
Estimate in the orientation of square figure statistical method and associative array.
It is studied.
[1] the port/starboard discrimination method article of vector array, such as：Sun Guocang, shallow sea vector sound field and its signal processing Ha Er
Shore engineering University Ph.D. Dissertation.(2008.10. hereinafter referred to as document 1)
[2] Ma Wei, the steady Estimation of Spatial Spectrum technical research Harbin Engineering Universitys doctorate opinion of acoustic vector sensors
Text.2013.5 (hereinafter referred to as documents 2)
[3] article of cross-spectrum statistics with histogram method orientation estimation, such as：Chen Chuan low frequency vector hydrophone target absolute orientations
Estimate sea trial research sensors and micro-system .2012,31 (7):58-60 pages of (hereinafter referred to as document 3)
[4] it is (hereinafter referred to as literary that Hui Junying, Hui Juan write vector Underwater Acoustic channels basis National Defense Industry Press .2009.4.
It offers 4)
[5], Sun Guocang, Hui Junying, Guo Longxiang, Cai Ping Array Intensity Estimators and its application Journal of System Simulation .2008,20
(6)：1551-1558 pages of (hereinafter referred to as document 5)
[6], the sparse acoustic vector-sensor array orientation Beijing estimation .2006 of Sun Guocang, favour person of outstanding talent's English based on Array Intensity Estimator
District Universities postgraduate's seminar --- communication and information technology proceeding (on) .2006. (hereinafter referred to as document 6)
Document 1~2 gives the port/starboard discrimination method of conventional vector battle array.First scalar matrix conventional beamformer be will be each
The sound pressure signal that array element receives obtains comprehensive energy spectrum output as a whole, by calculating its covariance matrix,
The orientation of target is determined by output energy size.The port/starboard discrimination method of vector array is the base in scalar matrix conventional beamformer
The signal of vibration velocity channel is also added in covariance matrix on plinth and is calculated, remaining step is identical as scalar Wave beam forming.
Therefore the calculation amount of the covariance matrix of vector array is much larger than the calculation amount of scalar matrix.It proposes a kind of based on array cross-spectrum histogram
The vector array target port/starboard discrimination method of figure statistic law can substantially reduce calculation amount by comparison, be provided just for processing in real time
Also there is 360 degree of omnidirectional uniform port and starboard resolution capability while sharp condition, it is also more preferable to the separating capacity of phase close-target.
Document 3 gives a kind of cross-spectrum histogram direction estimation method of single vector hydrophone, this method first by acoustic pressure,
The time-domain signal of x-axis vibration velocity channel and y-axis vibration velocity channel do Fourier transformation obtain respective frequency spectrum again with the frequency spectrum of sound pressure signal
Cross-spectrum is done, becomes frequency domain processing at this time, x-axis direction is calculated in each different frequency band respectively and the acoustic energy flow in y-axis direction is
It can estimate horizontal azimuth of the target relative to array co-ordinates system, carrying out histogram mathematically to the orientation of each frequency band unites
Meter, the corresponding orientation of maximum value after histogram is cumulative are the horizontal azimuth of target.However this vector orientation estimation side
Method orientation estimation under Low SNR is very inaccurate.The shortcomings that in order to overcome this method, herein by the wave of scalar matrix
Beam formation is combined with cross-spectrum histogram method, improves the true bearing that processing signal-to-noise ratio is used to differentiate target.
Acoustic pressure, vibration velocity cross-spectrum histogram direction estimation method and vector array conventional beamformer are described in document 4 respectively
Method.And give a kind of cross-spectrum histogram orientation method that estimation is used in combination with vector array conventional beamformer.It utilizes
Vector array signal carries out multi-beam scanning, then is exported to each wave beam and carry out cross-spectrum statistics with histogram to realize the mesh of orientation estimation
's.The disadvantage is that when wave beam is not aligned with signal source, the noise of wave beam output is relatively low, to which histogram estimated result is unstable
It is fixed.New method presented herein based on acoustic pressure, the improved cross-spectrum statistics with histogram method of vibration velocity Mutual spectrum is sieved in spectral peak
On the basis of choosing, within the scope of spectral peak signal carry out orientation estimation, then carry out Wave beam forming improve signal-to-noise ratio, avoid by
Error caused by low signal-to-noise ratio is compared with spectrum peak position to achieve the purpose that port/starboard discrimination further according to estimated result.With
Method described in book technological means and for it is to be solved the problem of on have essential distinction.
Document 5~6 gives a kind of vector orientation estimation and forms the application method being combined, referred to as array with array beams
Intensity Estimator method is the method for being used in combination Acoustic Averager's and array, such methods combination Wave beam forming and the array sound intensity
It is fuzzy to eliminate the graing lobe of Sparse Array that device obtains azimuth information, and being mainly used for the sparse caused graing lobe of anti-battle array influences.Here it proposes
Method focus on solving the problems, such as the port/starboard discrimination of vector array, used for reference document by vector direction estimation method and array phase
In conjunction with thought, but compared with the method in document from technological means itself and for it is to be solved the problem of on have essential area
Not.
Invention content
The purpose of the present invention is to propose to a kind of port/starboard discrimination accuracy solving vector array is low and within the scope of 360 degree
The non-uniform problem of target port/starboard discrimination ability based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum.
The object of the present invention is achieved like this：
The present invention includes the following steps：
(1) after being converted to frequency-region signal to the sound pressure signal that vector array receives, make frequency domain broadband conventional beamformer
Processing, obtains luv space spectrum matrix Pout(θ)；Wherein, spatio-spectral matrix refers to the matrix of the spatial spectrum type of output；
(2) the luv space spectrum matrix P that step (1) is obtainedout(θ) carries out two-way first order recursive and is filtered, and is put down
Spatial spectrum P after cunningα(θ)；
(3) P is composed according to the smooth Spaces that step (2) obtainsα(θ) composes P in smooth SpacesαD is improved on the basis of (θ)TIt is a
Decibel obtains the thresholding P of spectral peak screeningDT(θ)；Scan position angle, θ=[0 °, 1 °, 2 ° ..., 360 °], by luv space spectral moment
Battle array PoutIt is all in (θ) to be higher than thresholding PDTThe orientation angles θ of (θ) is screened, and is denoted as echo signal azimuth angle theta respectively1 θ2
… θk；K indicates to measure the number of the target bearing angle in space；
(4) the echo signal azimuth angle theta filtered out according to step (3)1 θ2 … θk, right in each echo signal orientation
The spectrum signal progress Wave beam forming of acoustic pressure, vibration velocity；
(5) according to step (4) Wave beam forming as a result, the sound pressure signal obtained in step (1) is believed with x-axis vibration velocity respectively
Number, y-axis vibration velocity signal do cross-spectrum operation, orientation estimation and statistics with histogram, obtain orientation estimated result
(6) estimated result obtained according to step (5)The port and starboard judgement for carrying out target judges to estimate
Evaluation and scan position absolute value of the differenceWhether estimated value and image orientation absolute value of the difference are less than or equal to
If so, retaining the echo signal orientation；
Otherwise it is assumed that being the pseudo- peak θ in the image orientation of targete, rejected；
(7) utilize the echo signal orientation that step (6) retains as a result, pseudo- peak θ for being determined as image orientatione, band
Enter in step (2) it is smooth after spatial spectrum PαP is obtained in (θ)α(θe), and utilize Pα(θe) replace luv space spectrum matrix Pout
(θe) in output power；Thus it obtains without fuzzy spatio-spectral matrix Pout(θ)'。
After being converted to frequency-region signal to the sound pressure signal that complex array receives in the step (1), it is normal to make frequency domain broadband
Wave beam forming processing is advised, luv space spectrum matrix P is obtainedoutThe process of (θ) is：
(1.1) to receive acoustic pressure, vibration velocity time-domain signal carry out Fast Fourier Transform (FFT) be converted to frequency-region signal；
(1.2) it is that each frequency point signal carries out conventional beamformer respectively within the scope of B to frequency-region signal working frequency range bandwidth
Processing, obtains the spatial spectrum of each frequency point, and export；And spatial spectrum is expressed as P (fi, θ), and
P(fi, θ) and=a (fi,θ)HR(fi)a(fi,θ)；In formula,
B is signal bandwidth, B=fh-fl, flFor working frequency range lower frequency limit, fhFor working frequency range upper limiting frequency, fiIt is quick
Fourier transformation is Fast Fourier Transform (FFT) pair in signal bandwidth B for i-th of frequency in signal band B, i=1,2 ... L, L
The subband number answered, L=B/ Δs f, B are signal bandwidth, and Δ f is frequency resolution when FFT is calculated, fl≤fi≤fh, a (fi,
θ) it is frequency fiCorresponding steering vector；
Conjugate transposition is sought in H expressions；
The orientation angles that θ is 0~360 °；
R(fi) indicate frequency fiCross-spectral density matrix, and R (fi)=E (X (fi)X(fi)H)；
(1.3) the spatial spectrum P (f of each frequency pointi, θ) and cumulative, obtain conventional broadband wave beam output spatial spectrum, i.e., original sky
Between spectrum output matrix Pout, wherein
Luv space spectrum matrix P in the step (2) to obtainingout(θ) carries out two-way first order recursive and is filtered, and obtains
To the spatial spectrum P after smoothαThe process of (θ) is：
(2.1) using two-way first order recursive filter to luv space spectrum matrix Pout(θ) carries out the disposal of gentle filter；Together
When extraction luv space spectrum matrix PoutThe spectral peak of (θ)；
(2.2) by luv space spectrum matrix Pout(θ) carries out two-way α and filters to obtain Pα(θ), filter factor is turned down.
The step (4) is to the echo signal azimuth angle theta that filters out1 θ2 … θk, right in each echo signal orientation
The spectrum signal progress Wave beam forming of acoustic pressure, vibration velocity；And step (5) it is described according to step (4) Wave beam forming as a result, by step
(1) sound pressure signal exported does cross-spectrum operation, orientation estimation and histogram system with x-axis vibration velocity signal, y-axis vibration velocity signal respectively
Meter orientation obtains estimated resultProcess be,
1) estimation of vector orientation is carried out at each scanning element using cross-spectrum histogram method, is indicated by acoustic pressure with p (ω)
Signal is fourier transformed the spectra of sound pressure of output, with vx(ω) indicates x-axis vibration velocity signal vibration velocity spectrum, with vy(ω) indicates y-axis vibration velocity
Signal vibration velocity is composed；wp(θk, ω) and it is corresponding θkThe weighing vector of the Wave beam forming of the sound pressure signal in direction, then in spectral peak orientation wave
The output that beam is formed is written as：
2) output formed in spectral peak azimuth beam includes θkOther sides within the scope of the contribution of direction incoming wave and beam angle
Contribution to incoming wave；If Beam-former is ideal spatial filter, i.e., only θkThe incoming wave in direction passes through, remaining direction is come
Wave is filtered completely, then passes through θkThe array sound intensity after the Wave beam forming airspace filter of direction is：
In formula,AndMiddle * indicates conjugate operation；
Then frequency domain answer Intensity Estimator orientation estimation θ formula be：
3) Wave beam forming obtained to step 4 is as a result, i.e. set θ (θk, ω), histogram estimation is done, is obtained：
ThenThe estimation orientation value obtained for array cross-spectrum histogram method；Wherein, F (θ) is the probability density function of θ, and Q is
The segmentation sum of histogram, θiFor the center hold value of each cut section；
4) in each spectral peak azimuth angle theta1 θ2 … θkStatistics with histogram is all carried out, corresponding estimation orientation is obtained：
The step (7) using reservation echo signal orientation as a result, pseudo- peak θ for being determined as image orientatione, band
Enter in step (2) it is smooth after spatial spectrum PαP is obtained in (θ)α(θe), and utilize Pα(θe) replace luv space spectrum matrix Pout
(θe) in output power；Thus it obtains without fuzzy spatio-spectral matrix PoutThe process of (θ) ' is：
According to the port and starboard court verdict in orientation in step (6), in luv space spectrum matrix PoutTo ruling out on (θ)
Image orientation is inhibited, specially：Spatial spectrum P after being obtained smoothly using two-way first order recursive filter in step (2)α
(θ), in luv space spectrum matrix PoutSpatial spectrum P after the power spectrum in image orientation replaces with smoothly in (θ)αCounterparty in (θ)
The power spectrum of position realizes the inhibition of mapping image aspect, obtains port and starboard without fuzzy spatial spectrum output matrix Pout(θ)'。
To the vector array that complex array is M member array elements in the step (1), it is expressed as in the array output of t moment：
X (t)=[x1(t),x2(t),…,xM(t)]T
=A (θ) S (t)+N (t)
Wherein, S (t) indicates source signal vector, S (t)=[s1(t),s2(t),…,sk(t)]T；K indicates to measure in space
Target number；
N (t) indicates the noise vector that array received arrives, N (t)=[n1(t),n2(t),…,nM(t)]T；
A (θ) indicates the sense matrix of array,
a(θk) indicate that array beams form steering vector,
It is 1 when measuring the target number in space, i.e. when k=1, array output is reduced to：
X (t)=[x1(t),x2(t),…,xM(t)]T=a (θs)S(t)+N(t)。
The beneficial effects of the present invention are：
The present invention is in vector array signals processing, and array cross-spectrum histogram method is typically directly to acoustic pressure, vibration velocity signal
It does cross-spectrum and carries out orientation estimation.It is carried out first in spectral peak orientation based on acoustic pressure, the improved cross-spectrum histogram method of vibration velocity Mutual spectrum
Wave beam forming, then cross-spectrum histogram estimation aspect is carried out, when scanning beam misalignment signal source, the signal letter in wave beam
It makes an uproar relatively low, the estimated result peak value unobvious of cross-spectrum histogram method can not accurately determine the true bearing of signal.In order to reduce
Due to the influence that low signal-to-noise ratio is estimated to bring to histogram, it is improved based on acoustic pressure, vibration velocity Mutual spectrum that The present invention gives one kind
Cross-spectrum histogram method, and be applied in port/starboard discrimination.This method can carry out peak choosing to spatial spectrum, to spectral peak range
Interior signal carries out orientation estimation, carries out abatement inhibition to the survey of pseudo- peak by comparing estimated result and spectrum peak position, and then overcome
Under Low SNR the problem of port and starboard ambiguity, Faint target detection ability in same sex noise background is improved；
(1) the vector array conventional beamformer method that document 4 provides directly applies to target positioning and tracking.When in advance at
When wave beam is not aligned with signal source, the result of cross-spectrum histogram method estimation is very unstable, and error is larger, is not suitable for noise and compares
Under low environment；
(2) method of Array Intensity Estimator suppressor petal traditional in document 5,6 paste is more applicable for line spectrum single goal item
Under part, for broadband signal and multi-target condition, detectability is nothing like cross-spectrum histogram method；
(3) compared with vector array conventional beamformer method, new method increases the process of spectral peak screening.Therefore new method
Not only substantially reduce the order of accuarcy that the calculation amount handled in real time is also effectively improved orientation estimation, therefore the method for the present invention
With better practicability；
(4) compared with single vector port/starboard discrimination method, the method for the present invention have bigger physical pore size, therefore with compared with
High physical resolution.
Description of the drawings
Fig. 1 is the linear array far field direction finding port and starboard ambiguity schematic diagram that background of invention is related to；
Fig. 2 is array signal processing geometrical model figure in the specific embodiment of the invention one；
Fig. 3 is the whole implementation process block diagram of embodiment of the present invention one to five；
Fig. 4 is sound pressure signal conventional beamformer (CBF) flow chart in the specific embodiment of the invention one；
Fig. 5 is cross-spectrum histogram processing methods flow chart in the specific embodiment of the invention one；
Fig. 6 is that sound pressure signal conventional beamformer (CBF) exports spatio-spectral matrix P in emulation experiment of the present inventionout(θ)；
Fig. 7 is that sound pressure signal conventional beamformer exports spatio-spectral matrix P in emulation experiment of the present inventionoutAt one of (θ)
Between be sliced；
Fig. 8 is the two-way front and back spatio-spectral matrix P of α filtering in emulation experiment of the present inventionout(θ) and Pα(θ) is in synchronization
Isochronous surface；
Fig. 9 is to be exported after port/starboard discrimination processing in emulation experiment of the present invention without fuzzy space spectrum matrix Pout(θ)'；
Figure 10 is in emulation experiment of the present invention without fuzzy space spectrum matrix PoutOne isochronous surface of (θ) '；
Figure 11 is to go through the spatial spectrum time aziniuth obtained after conventional cross-spectrum histogram method processing in emulation experiment of the present invention
Cheng Tu.
Specific implementation mode
The present invention is described further below in conjunction with the accompanying drawings.
Specific implementation mode one：
Present embodiment it is a kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum, in conjunction with Fig. 2 and figure
Shown in 3, the method is realized by following steps：
Step 1: after becoming frequency-region signal to the sound pressure signal that complex array receives, make frequency domain broadband routine wave beam shape
At processing, luv space spectrum matrix P is obtainedout(θ)；Wherein, spatio-spectral matrix refers to the matrix of the spatial spectrum type of output；
Step 2: the luv space spectrum matrix P obtained to step 1out(θ) carries out two-way first order recursive and is filtered, and obtains
To the spatial spectrum P after smoothα(θ)；
Step 3: composing P according to the smooth Spaces that step 2 obtainsα(θ) composes P in smooth SpacesαD is improved on the basis of (θ)T
A decibel obtains the thresholding P of spectral peak screeningDT(θ)；Scan position angle, θ=[0 °, 1 °, 2 ° ..., 360 °], luv space is composed
Matrix PoutIt is all in (θ) to be higher than thresholding PDTThe orientation angles θ of (θ) is screened, and is denoted as echo signal azimuth angle theta respectively1
θ2 … θk；K indicates to measure the number of the target bearing angle in space；
Step 4: the echo signal azimuth angle theta filtered out according to step 31 θ2 … θk, in each echo signal orientation
On Wave beam forming is carried out to the spectrum signal of acoustic pressure, vibration velocity；
Step 5: according to step 4 Wave beam forming as a result, by the Fourier transformation (referred to as FFT) of step 1 intermediate steps
The frequency domain sound pressure signal exported afterwards does cross-spectrum operation, orientation estimation and statistics with histogram with frequency domain vibration velocity VX, vibration velocity VY respectively
Orientation obtains estimated result
Step 6: the estimated result obtained according to step 5The port and starboard judgement for carrying out target, that is, sentence
Disconnected estimated value and scan position absolute value of the differenceWhether estimated value and image orientation absolute value of the difference are less than or equal to
If so, retaining the echo signal orientation；
Otherwise it is assumed that being the pseudo- peak θ in the image orientation of targete, rejected；
Step 7: the echo signal orientation retained using step 6 as a result, pseudo- peak θ for being determined as image orientatione,
Bring into step 2 it is smooth after spatial spectrum PαP is obtained in (θ)α(θe), and utilize Pα(θe) replace luv space spectrum matrix Pout
(θe) in output power；Thus it obtains without fuzzy spatio-spectral matrix Pout(θ)'。
Specific implementation mode two：
Unlike specific implementation mode one, the vector array or so based on acoustic pressure, vibration velocity Mutual spectrum of present embodiment
Side of a ship resolving method is made at frequency domain broadband conventional beamformer (CBF) sound pressure signal that complex array receives described in step 1
Reason, obtains luv space spectrum matrix PoutThe process of (θ) is,
Step 1 one, the acoustic pressure to receiving, vibration velocity time-domain signal progress Fast Fourier Transform (FFT) (referred to as FFT) conversion
For frequency-region signal；
Step 1 two is that each frequency point signal carries out conventional wave beam respectively within the scope of B to frequency-region signal working frequency range bandwidth
(referred to as CBF) processing is formed, obtains the spatial spectrum of each frequency point, and export；And spatial spectrum is expressed as P (fi, θ), and
P(fi, θ) and=a (fi,θ)HR(fi)a(fi,θ)；In formula,
B is signal bandwidth, B=fh-fl, flFor working frequency range lower frequency limit, fhFor working frequency range upper limiting frequency, fiIt is quick
Fourier transformation (referred to as FFT) is quick in signal bandwidth B for i-th of frequency in signal band B, i=1,2 ... L, L
The corresponding subband number of Fourier transformation (referred to as FFT), L=B/ Δs f, B are signal bandwidth, and Δ f is frequency when FFT is calculated
Resolution ratio, fl≤fi≤fh, a (fi, θ) and it is frequency fiCorresponding steering vector；
Conjugate transposition is sought in H expressions；
The orientation angles that θ is 0~360 °；
R(fi) indicate frequency fiCross-spectral density matrix, and R (fi)=E (X (fi)X(fi)H)；
Step 1 three, the spatial spectrum P (f each frequency pointi, θ) and cumulative, obtain conventional broadband wave beam output spatial spectrum, i.e., it is former
Beginning spatial spectrum output matrix Pout, wherein
Specific implementation mode three：
Unlike specific implementation mode one or two, a kind of arrow based on acoustic pressure, vibration velocity Mutual spectrum of present embodiment
Measure battle array port/starboard discrimination method, the luv space spectrum matrix P obtained to step 1 described in step 2out(θ) carries out two-way single order and passs
Return and is filtered, the spatial spectrum P after obtaining smoothlyαThe process of (θ) is,
Step 2 one, using two-way first order recursive filter, i.e., αfilter is to luv space spectrum matrix Pout(θ) is put down
Cunning is filtered；Extract luv space spectrum matrix P simultaneouslyoutThe spectral peak of (θ)；
Step 2 two, by luv space spectrum matrix Pout(θ) carries out two-way α and filters to obtain Pα(θ), according to filter factor
Adjustability turns filter factor down so that filter effect is more apparent, obtained Pα(θ) is also more flat.
Specific implementation mode four：
Unlike specific implementation mode three, the vector array or so based on acoustic pressure, vibration velocity Mutual spectrum of present embodiment
Side of a ship resolving method, the echo signal azimuth angle theta filtered out according to step 3 described in step 41 θ2 … θk, believe in each target
Wave beam forming is carried out to the spectrum signal of acoustic pressure, vibration velocity in number orientation；And according to step 4 Wave beam forming knot described in step 5
Fruit, by the frequency domain sound pressure signal of (referred to as FFT) output after step 1 intermediate steps Fourier transformation respectively with frequency domain vibration velocity VX,
Vibration velocity VY does cross-spectrum operation, orientation estimation and statistics with histogram orientation and obtains estimated resultProcess be,
First, the estimation of vector orientation is carried out at each scanning element using cross-spectrum histogram method, is indicated by sound with p (ω)
Pressure, vibration velocity time-domain signal are fourier transformed the spectra of sound pressure of (referred to as FFT) output, with vx(ω) indicates x-axis vibration velocity spectrum, with vy
(ω) indicates y-axis vibration velocity spectrum；wp(θk, ω) and it is corresponding θkThe weighting of the Wave beam forming (referred to as CBF) of the sound pressure signal in direction to
Amount, the then output formed in spectral peak azimuth beam are written as：
Second, include θ in the output that spectral peak azimuth beam is formedkWithin the scope of the contribution of direction incoming wave and beam angle its
The contribution of its direction incoming wave；If Beam-former is ideal spatial filter, i.e., only θkThe incoming wave in direction passes through, remaining direction
Incoming wave filtered completely, then pass through θkThe array sound intensity after the Wave beam forming airspace filter of direction is：
In formula,AndMiddle * indicates conjugate operation；
Then frequency domain answer Intensity Estimator orientation estimation θ formula be：
Third, the Wave beam forming obtained to step 4 is as a result, i.e. set θ (θk, ω), histogram estimation is done, is obtained：
ThenThe estimation orientation value obtained for array cross-spectrum histogram method；Wherein, F (θ) is the probability density function of θ, and Q is
The segmentation sum of histogram, θiFor the center hold value of each cut section；
4th, in each spectral peak azimuth angle theta1 θ2 … θkStatistics with histogram is all carried out, corresponding estimation orientation is obtained：
Specific implementation mode five：
Unlike the specific implementation mode one, two or four, present embodiment it is a kind of based on acoustic pressure, vibration velocity Mutual spectrum
Vector array port/starboard discrimination method, the echo signal orientation retained using step 6 described in step 7 as a result, for being determined as
The pseudo- peak θ in image orientatione, bring into step 2 it is smooth after spatial spectrum PαP is obtained in (θ)α(θe), and utilize Pα(θe) replace original
Beginning spatio-spectral matrix Pout(θe) in output power；Thus it obtains without fuzzy spatio-spectral matrix PoutThe process of (θ) ' refers to,
According to the port and starboard court verdict in orientation in step 6, in luv space spectrum matrix PoutIt is reflected to what is ruled out on (θ)
Image aspect is inhibited, specially：Spatial spectrum P after being obtained smoothly using two-way first order recursive filter in step 2α(θ),
In luv space spectrum matrix PoutSpatial spectrum P after the power spectrum in image orientation replaces with smoothly in (θ)αOrientation is corresponded in (θ)
Power spectrum realizes the inhibition of mapping image aspect, obtains port and starboard without fuzzy spatial spectrum output matrix Pout(θ)'。
Specific implementation mode six：
Unlike specific implementation mode five, a kind of vector array based on acoustic pressure, vibration velocity Mutual spectrum of present embodiment
Port/starboard discrimination method exports table to the vector array that complex array is M member array elements described in step 1 in the array of t moment
It is shown as：
X (t)=[x1(t),x2(t),…,xM(t)]T
=A (θ) S (t)+N (t)
Wherein, S (t) indicates source signal vector, S (t)=[s1(t),s2(t),…,sk(t)]T；K indicates to measure in space
Target number；
N (t) indicates the noise vector that array received arrives, N (t)=[n1(t),n2(t),…,nM(t)]T；
A (θ) indicates the sense matrix of array,
a(θk) indicate that array beams form steering vector,
It is 1 when measuring the target number in space, i.e. when k=1, array output is reduced to：
X (t)=[x1(t),x2(t),…,xM(t)]T=a (θs)S(t)+N(t)。
Embodiment 1：
The present invention is described in more detail with reference to algorithm flow Fig. 3 of the present invention.It is closed according to geometry shown in Fig. 2
It is founding mathematical models, the array output by a M element array in t moment is expressed as form：
Wherein every variable-definition is as follows：
S (t)=[s1(t),s2(t),…,sk(t)]T：Source signal vector；k：Measure the target number in space；
N (t)=[n1(t),n2(t),…,nM(t)]T：The noise vector that array received arrives；
The sense matrix of array；
Array beams form steering vector；
The case where considering a target, then can be reduced to：
X (t)=[x1(t),x2(t),…,xM(t)]T=a (θs)S(t)+N(t) (2)
General Element space weighting wave beam output can be expressed as：
Y (t)=WHX(t) (5)
In formula, WH(θ)=[ω1(θ),ω2(θ),…,ωM(θ)]TFor Wave beam forming weight vector, ωi(θ) is No. i-th battle array
The weighting coefficient of member.θ is the direction angle of wave beam, and the modular representation of weight vector is to the amplitude weighting of delayed output signals, phase angle expression
To the phase delay of delayed output signals.The mean power or spatial spectrum of Wave beam forming output at this time are represented by：
P (θ)=E [| y (t) |2]=WHE(X(t)XH(t)) W=WHRW (6)
In formula, R=E (X (t) X (t)H) it is acoustic vector array covariance matrix, mathematic(al) mean is asked in E [] expressions, for narrow
The weight vector and azimuth spectrum formula of band signal conventional beamformer are as follows：
W (θ)=a (θ) (7)
P (θ)=a (θ)HRa(θ) (8)
The echo signal handled during passive measurement is often bandwidth signals, and processing broadband signal can be obtained compared with narrowband
The more abundant target information of signal.Signal need to be divided into several narrow band signals and carry out sub-band processing by broad-band EDFA, can be led to
Cross FFT realizations.Assuming that FFT is decomposed into L subband in decomposing, the Wave beam forming weight vector of i-th of subband is represented by：
W(fi, θ) and=a (fi,θ) (9)
The energy of the wave beam output of i-th of subband：
P(fi, θ) and=a (fi,θ)HR(fi)a(fi,θ) (10)
In formula, R (fi)=E (X (fi)X(fi)H), it is frequency fiCross-spectral density matrix, E [] be ask n times mathematic(al) mean,
N is the independent number of snapshots in observation time, is averagely the equal of a temporal integral, can improve cross-spectral density matrix R
Estimated accuracy and stability.X(fi)=[X1(fi),X2(fi)…XM(fi)]T, signal is received in frequency f for each array elementiPlace
Spectrum value.The energy accumulation of each subband broadband beams output has just been obtained：
A kind of port/starboard discrimination method based on array cross-spectrum histogram that the present invention provides refers to utilizing sound pressure signal
Obtain broadband spatial spectrum PoutOn the basis of (θ), the azimuth of spectral peak, i.e., the true bearing and image of each target are extracted
Orientation.Effective spectrum peak is stored as scan position point.Using cross-spectrum histogram method at each scanning element into
Row vector orientation is estimated, if the estimated value of cross-spectrum histogram method and the difference of the scanning element are less than the estimated value and scanning element
Image orientation difference when, then it is assumed that the spectral peak be target true bearing, otherwise it is assumed that being the image orientation of target, in sky
Between compose PoutMapping image aspect carries out smooth inhibition and obtains port and starboard without fuzzy spatial spectrum P on (θ)out(θ)'。
Embodiment 2：
The step 2 extracts effective spectral peak using two-way first order recursive filter (αfilter).Specific implementation mode
It is：By Pout(θ) carries out two-way α and filters to obtain Pα(θ), filter factor is adjustable, and the smaller then filter effect of filter factor is more apparent,
Obtained Pα(θ) is also more flat.DTFor spectral peak screening thresholding in PαD is improved on the basis of (θ)TDecibel obtains spectral peak screening
Thresholding PDT(θ)：
PDT(θ)=Pα(θ)+DT (12)
All angle, θs=[0 °, 1 °, 2 ° ..., 360 °] angle is scanned, is higher than thresholding P by allDTThe orientation θ of (θ) is filtered out
Come.
Other steps and parameter are same as Example 1.
Emulation experiment：
Fig. 6 to Figure 10 is that the performance of conventional broadband Wave beam forming and proposition method of the present invention compares in the case of Bi-objective.Item
Part：8 yuan of battle arrays, if array element spacing is 0.75m (1kHz half-waves spacing), working band is 800~1200Hz, FFT frequency resolutions
For 1Hz, time of integration 1s, 1 orientation of target is from 60 ° to 120 °, and from 120 ° to 60 °, signal-to-noise ratio is -10dB, is seen in target 2 orientation
It is 30s to examine time span.It is basic vector array port and starboard of the comparative analysis based on acoustic pressure, vibration velocity Mutual spectrum with conventional beamformer
The treatment effect of resolving method.Fig. 6 is spatial spectrum P of the sound pressure signal by conventional beamformer (CBF) processing outputout(θ) square
The bearing history figure of battle array, i.e. conventional beamformer estimation.Fig. 7 is an isochronous surface of Fig. 6, can clearly in Fig. 7
It observes, four spectral peaks are symmetrical about 180 ° two-by-two respectively, only there are two true bearing actually in this four spectral peaks, in addition two
A is its respective image orientation.In order to effectively automatically extract middle spatial spectrum PoutSpectral peak orientation in (θ), to Pout
Each isochronous surface of (θ) carries out two-way α filtering, and filtered the results are shown in Figure 8.Fig. 9 is by mutual based on acoustic pressure, vibration velocity
The vector array port/starboard discrimination method of spectrometry processing output without fuzzy space spectrum matrix Pout(θ)'.Figure 10 is one of Fig. 9
Isochronous surface, as can be observed from Figure two image orientation be effectively cut in by spurious peaks restraining processing.Comparative analysis
Can effectively tell later by the port/starboard discrimination algorithm process of this paper known to Fig. 6 and Fig. 9 be really signal orientation with
Image orientation, and exported by the spatial spectrum of spurious peaks restraining image signal, the wave beam output in image orientation is bright after being handled in Fig. 9
It is aobvious to reduce.Figure 11 be under same experimental conditions using conventional cross-spectrum histogram method to signal handled as a result, by
It is poor to the multi-sources distinguishing function of homogenous frequency signal in conventional cross-spectrum histogram method, two different directions existing for script
Homogenous frequency signal merges into a target, and the orientation of output is also the orientation after merging, and compares the port and starboard of this paper with this condition
Resolving method has obvious advantage.
The invention belongs to vector towed array field of signal processing to the port/starboard discrimination method field of target.Existing vector array
Port/starboard discrimination there is a problem of that accuracy is low.The present invention makees frequency domain broadband routine to the sound pressure signal that vector array receives
Wave beam forming processing, obtains spatial spectrum output matrix；It carries out two-way first order recursive and filters the spatial spectrum after obtaining smoothly；It filters out
It is higher than the azimuth of thresholding in spatial spectrum output matrix；Carry out Wave beam forming；By the frequency domain sound pressure signal of rear output respectively with frequency
Domain vibration velocity, vibration velocity do cross-spectrum operation, orientation estimation and statistics with histogram orientation；Carry out the port and starboard judgement of target；If it is determined that
For the pseudo- peak in image orientation, output power in original spatial spectrum is replaced with the spatial spectrum after smooth in corresponding pseudo- peak orientation.This hair
It is bright that there is better practicability.
The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field
Technical staff makes various corresponding change and deformations in accordance with the present invention, but these corresponding change and deformations should all belong to
The protection domain of appended claims of the invention.
Claims (6)
1. a kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum, which is characterized in that include the following steps：
(1) after being converted to frequency-region signal to the sound pressure signal that vector array receives, make the conventional beamformer processing of frequency domain broadband,
Obtain luv space spectrum matrix Pout(θ)；Wherein, spatio-spectral matrix refers to the matrix of the spatial spectrum type of output；
(2) the luv space spectrum matrix P that step (1) is obtainedout(θ) carries out two-way first order recursive and is filtered, after obtaining smoothly
Spatial spectrum Pα(θ)；
(3) P is composed according to the smooth Spaces that step (2) obtainsα(θ) composes P in smooth SpacesαD is improved on the basis of (θ)TA decibel
Obtain the thresholding P of spectral peak screeningDT(θ)；Scan position angle, θ=[0 °, 1 °, 2 ° ..., 360 °], by luv space spectrum matrix Pout
It is all in (θ) to be higher than thresholding PDTThe orientation angles θ of (θ) is screened, and is denoted as echo signal azimuth angle theta respectively1 θ2 … θk；
K indicates to measure the number of the target bearing angle in space；
(4) the echo signal azimuth angle theta filtered out according to step (3)1 θ2 … θk, to sound in each echo signal orientation
The spectrum signal progress Wave beam forming of pressure, vibration velocity；
(5) according to step (4) Wave beam forming as a result, by the sound pressure signal obtained in step (1) respectively with x-axis vibration velocity signal, y-axis
Vibration velocity signal does cross-spectrum operation, orientation estimation and statistics with histogram, obtains orientation estimated result
(6) estimated result obtained according to step (5)The port and starboard judgement for carrying out target, that is, judge estimated value
With scan position absolute value of the differenceWhether estimated value and image orientation absolute value of the difference are less than or equal to
If so, retaining the echo signal orientation；
Otherwise it is assumed that being the pseudo- peak θ in the image orientation of targete, rejected；
(7) utilize the echo signal orientation that step (6) retains as a result, pseudo- peak θ for being determined as image orientatione, bring step into
(2) in it is smooth after spatial spectrum PαP is obtained in (θ)α(θe), and utilize Pα(θe) replace Pout(θe) in output power；Thus it obtains
Without fuzzy spatio-spectral matrix Pout(θ)'。
2. a kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum according to claim 1, feature exists
In：After being converted to frequency-region signal to the sound pressure signal that complex array receives in the step (1), make frequency domain broadband routine wave beam
Formation is handled, and obtains luv space spectrum matrix PoutThe process of (θ) is：
(1.1) to receive acoustic pressure, vibration velocity time-domain signal carry out Fast Fourier Transform (FFT) be converted to frequency-region signal；
(1.2) it is that each frequency point signal carries out conventional beamformer processing respectively within the scope of B to frequency-region signal working frequency range bandwidth,
The spatial spectrum of each frequency point is obtained, and is exported；And spatial spectrum is expressed as P (fi, θ), and
P(fi, θ) and=a (fi,θ)HR(fi)a(fi,θ)；In formula,
B is signal bandwidth, B=fh-fl, flFor working frequency range lower frequency limit, fhFor working frequency range upper limiting frequency, fiFor in quick Fu
Leaf transformation is that Fast Fourier Transform (FFT) is corresponding in signal bandwidth B for i-th of frequency in signal band B, i=1,2 ... L, L
Subband number, L=B/ Δs f, B are signal bandwidth, and Δ f is frequency resolution when FFT is calculated, fl≤fi≤fh, a (fi, θ) be
Frequency fiCorresponding steering vector；
Conjugate transposition is sought in H expressions；
The orientation angles that θ is 0~360 °；
R(fi) indicate frequency fiCross-spectral density matrix, and R (fi)=E (X (fi)X(fi)H)；
(1.3) the spatial spectrum P (f of each frequency pointi, θ) and cumulative, conventional broadband wave beam output spatial spectrum is obtained, i.e. luv space spectrum is defeated
Go out matrix Pout, wherein
3. it is according to claim 1 or claim 2 a kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum, it is special
Sign is：Luv space spectrum matrix P in the step (2) to obtainingout(θ) carries out two-way first order recursive and is filtered, and obtains
Spatial spectrum P after smoothαThe process of (θ) is：
(2.1) using two-way first order recursive filter to luv space spectrum matrix Pout(θ) carries out the disposal of gentle filter；It carries simultaneously
Take luv space spectrum matrix PoutThe spectral peak of (θ)；
(2.2) by luv space spectrum matrix Pout(θ) carries out two-way α and filters to obtain Pα(θ), filter factor is turned down.
4. a kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum according to claim 3, feature exists
In：The step (4) is to the echo signal azimuth angle theta that filters out1 θ2 … θk, in each echo signal orientation to acoustic pressure,
The spectrum signal of vibration velocity carries out Wave beam forming；And step (5) it is described according to step (4) Wave beam forming as a result, step (1) is defeated
The sound pressure signal gone out does cross-spectrum operation, orientation estimation and statistics with histogram side with x-axis vibration velocity signal, y-axis vibration velocity signal respectively
Position obtains estimated resultProcess be,
1) estimation of vector orientation is carried out at each scanning element using cross-spectrum histogram method, is indicated by sound pressure signal with p (ω)
It is fourier transformed the spectra of sound pressure of output, with vx(ω) indicates x-axis vibration velocity signal vibration velocity spectrum, with vy(ω) indicates y-axis vibration velocity signal
Vibration velocity is composed；wp(θk, ω) and it is corresponding θkThe weighing vector of the Wave beam forming of the sound pressure signal in direction, then in spectral peak azimuth beam shape
At output be written as：
2) output formed in spectral peak azimuth beam includes θkOther directions are come within the scope of the contribution of direction incoming wave and beam angle
The contribution of wave；If Beam-former is ideal spatial filter, i.e., only θkThe incoming wave in direction passes through, the incoming wave quilt in remaining direction
It filters completely, then passes through θkThe array sound intensity after the Wave beam forming airspace filter of direction is：
In formula,AndMiddle * indicates conjugate operation；
Then frequency domain answer Intensity Estimator orientation estimation θ formula be：
3) Wave beam forming obtained to step 4 is as a result, i.e. set θ (θk, ω), histogram estimation is done, is obtained：
ThenThe estimation orientation value obtained for array cross-spectrum histogram method；Wherein, F (θ) is the probability density function of θ, and Q is histogram
The segmentation sum of figure, θiFor the center hold value of each cut section；
4) in each spectral peak azimuth angle theta1 θ2 … θkStatistics with histogram is all carried out, corresponding estimation orientation is obtained：
5. it is described a kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum according to claim 1,2 or 4,
It is characterized in that：The step (7) using reservation echo signal orientation as a result, pseudo- peak θ for being determined as image orientatione,
Bring into step (2) it is smooth after spatial spectrum PαP is obtained in (θ)α(θe), and utilize Pα(θe) replace Pout(θe) in output power；
Thus it obtains without fuzzy spatio-spectral matrix PoutThe process of (θ) ' is：
According to the port and starboard court verdict in orientation in step (6), in luv space spectrum matrix PoutImage on (θ) to ruling out
Orientation is inhibited, specially：Spatial spectrum P after being obtained smoothly using two-way first order recursive filter in step (2)α(θ),
Luv space spectrum matrix PoutSpatial spectrum P after the power spectrum in image orientation replaces with smoothly in (θ)αThe work(in orientation is corresponded in (θ)
Rate is composed, and is realized the inhibition of mapping image aspect, is obtained port and starboard without fuzzy spatial spectrum output matrix Pout(θ)'。
6. a kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum according to claim 5, feature exists
In：To the vector array that complex array is M member array elements in the step (1), it is expressed as in the display output of t moment：
X (t)=[x1(t),x2(t),…,xM(t)]T
=A (θ) S (t)+N (t)
Wherein, S (t) indicates source signal vector, S (t)=[s1(t),s2(t),…,sk(t)]T；K indicates to measure the target in space
Number；
N (t) indicates the noise vector that array received arrives, N (t)=[n1(t),n2(t),…,nM(t)]T；
A (θ) indicates the sense matrix of array,
a(θk) indicate that array beams form steering vector,
It is 1 when measuring the target number in space, i.e. when k=1, display output is reduced to：
X (t)=[x1(t),x2(t),…,xM(t)]T=a (θs)S(t)+N(t)。
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| CN110196407B (en) * | 2019-05-06 | 2022-06-24 | 东南大学 | Single-vector hydrophone signal incoming wave direction estimation method based on frequency estimation |
| CN111273263B (en) * | 2019-06-25 | 2022-07-12 | 哈尔滨工程大学 | Autonomous detection sonar multi-target DOA estimation method based on information fusion |
| CN110244286B (en) * | 2019-07-09 | 2022-08-23 | 西北工业大学 | High-gain array design method without port and starboard fuzziness |
| CN110346752B (en) * | 2019-07-17 | 2022-09-27 | 哈尔滨工程大学 | Unambiguous direction finding method based on co-prime sparse array |
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