CN107179535A - A kind of fidelity based on distortion towed array strengthens the method for Wave beam forming - Google Patents
A kind of fidelity based on distortion towed array strengthens the method for Wave beam forming Download PDFInfo
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- CN107179535A CN107179535A CN201710403807.3A CN201710403807A CN107179535A CN 107179535 A CN107179535 A CN 107179535A CN 201710403807 A CN201710403807 A CN 201710403807A CN 107179535 A CN107179535 A CN 107179535A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
Strengthen the method for Wave beam forming the invention discloses a kind of fidelity based on distortion towed array, comprise the following steps：(1) simulation underwater acoustic target radiated noise s (t)；(2) analogue observation array signal xi(t), i=1,2 ..., M, M be towed array in array element number；(3) based on preferable Wave beam forming rough estimate target bearingFor pilot angle of echo signal beam energy when maximum；(4) L prominent line spectrum positions of detection echo signalL=1,2 ..., L；(5) in the phase difference estimation towed array of strong line spectrum position each array element average delay difference △ τi, i=1,2 ..., M；(6) the enhanced target beam of fidelity is obtained based on estimation time delayThe distortion that this method corrects towing line array by time delay estimation influences on Wave beam forming, obtains the enhanced target radiated noise tracking beam of fidelity.
Description
Technical field
The invention belongs to signal processing field, and in particular to a kind of fidelity based on distortion towed array strengthens wave beam shape
Into method.
Background technology
Current sonar system is broadly divided into hydrophone bank base battle array sonar and hydrophone towed linear-array sonar.Hydrophone is dragged
Towed array sonar abbreviation towed array is draged, is acoustic detection system of the towing in naval vessel afterbody certain distance, by receiving navigation target
The radiated noise of itself or the active signal of reflection, come detect the presence or absence of target and estimate target have related parameter.It, which has, visits
Survey ability is strong, and look-in frequency is low, and the hydrology is adaptable and the characteristics of non-blind area.Hydrophone array manifold is hydrophone array
One important parameter, when making the signal processings such as Wave beam forming using hydrophone array reception signal, typically requires formation
Oneself knows.But after hydrophone array cloth is put into water, the bad control of its formation, it is considered that when formation distortion is more than λ/10 (λ
To receive signal wavelength) when, formation distortion should just be compensated in Wave beam forming, otherwise can be to starboard ambiguity of towed linear array sonar
Significant impact can be produced, so as to influence orientation to estimate performance.
Existing towed array array shape estimation method can be largely classified into two classes：One class is the method that acoustics is calculated, and it is profit
With the reception signal of hydrophone array array manifold is released come counter；Another kind of is the method for non-sound subsidiary, mainly in water
Listen and several depth or course transmitter are installed on device towed array, formation is estimated using the measured value of these sensors, it is real
The fidelity Wave beam forming for the linear array that now distorts.
The method that acoustics is calculated mainly has acutance extraction method and characteristic vector method.Acutance extraction method is in the more situation of array element
Lower searching algorithm is excessively complicated, subsequent few people's research, and the unknown adaptive beam shape of formation is the method have been applied to afterwards
Into, but compared to this method, characteristic vector method better performances.This method only needs to a sound source and is just estimated that formation.
But typically require that sound bearing is accurately known, in addition, it also requires the coordinate of first array element, it is known that array deformation is not very big, phase
Adjacent array element spacing oneself know and fixed.In addition to the above two methods, maximum Likelihood and hiding Markov can also be used
The method estimation distortion of model, realizes the more accurate Wave beam forming of distortion linear array.
Non- sound auxiliary measuring method also mainly has two kinds, Hydrostatic injection and interpolation fitting method.Hydrostatic injection will be aided in
The measured value of sensor estimates distortion by solving the fluid mechanics equation of towing cable as boundary condition.This method in order to
More accurate estimated result is obtained, often another course transmitter is installed to correct in array afterbody.In addition, in equation
In, the tractive force suffered by array only is from the dragging of array front end.But in a practical situation, when sea situation is bad, battle array
The row factor that can be shoved etc. by wave is influenceed, and the Wave beam forming result that this method is estimated is less credible.Interpolation fitting
Method is that the multi-point condition on array is measured with aiding sensors, and the formation that distortion is then fitted with spline interpolation is realized accurately
Wave beam forming.It is constant that this method assumes that the abscissa of each course transmitter is always maintained at, that is, being still equal to array does not have deformation
When abscissa, therefore the formation estimated has difference with actual formation, and the total length of array can be elongated.When formation becomes
When changing smaller, the influence of this difference is little, but is accomplished by when formation is changed greatly correcting the formation estimated, so that
The result of Wave beam forming improves the orientation estimation performance of array closer to actual value.
Since first set towed array sonar system in 1917 is by invention, the development of towed array has gone through 100 years
Time.Nowadays, towed array all obtains widely should in the commercial field such as military target orientation and ocean stratum, oil exploration
With.Wherein, most of applications are all based on array manifold oneself premise for knowing, however, complicated and changeable due to marine environment, water is listened
Device array during towing, wave, shove, towboat it is motor-driven can all change the shape of array, i.e. array manifold towing process
In be continually changing.Conventional solution assumes that towed array remains straight line battle array, but in military security
Under the dual promotion of commercial interest, towed array constantly develops to many primitives, long range, multidimensional extensive direction, leads
Array formation during towing is caused to be increasingly difficult to control, this way for assuming that formation is constant can not meet practical application need
Ask.The aobvious protrusion of target Bearing Estimation accuracy problems day on the towing line array of distortion.How to occur in towing line array
In the case of distortion, the more accurate orientation estimation for carrying out echo signal, which will turn into, to improve array detection performance, promotes towing
Battle array moves towards high accuracy, the key in high-resolution applications direction.
The method that existing a variety of towing line arrays for distortion are estimated at present, a kind of the most frequently used approach is to drag
Multiple horizontal depth measuring instruments are placed in linear array, to obtain the positional information of array element, and then formation is estimated, realizes more accurate ripple
Beam formation and the estimation of echo signal orientation.This method application is more direct, but economic cost is too high.Another side
Method is that the correction to formation is realized by evaluated error parameter, and such method is modeled to array error first, by array
The problem of error correction is converted into parameter Estimation.Such array calibration method can be generally divided into active correction class and self-correcting
Class.For active correction method, this method has the requirement of higher refined orientation information to auxiliary source, so when auxiliary
When the azimuth information of signal source has deviation, this kind of correcting algorithm can bring larger deviation.Self-Tuning Algorithm is due to element position
Coupling and some ill array structures between error and direction parameter, the unique identification of parameter Estimation can not often ensure,
What is more important parametric joint estimates that corresponding higher-dimension, multimode nonlinear optimal problem bring huge operand, estimates
Global convergence can not often ensure.
The content of the invention
Goal of the invention：For problems of the prior art, the invention discloses a kind of guarantor based on distortion towed array
The method of true enhancing Wave beam forming, the distortion that this method corrects towing line array by time delay estimation influences on Wave beam forming,
Obtain the enhanced target radiated noise tracking beam of fidelity.
Technical scheme：The present invention is adopted the following technical scheme that：
A kind of fidelity based on distortion towed array strengthens the method for Wave beam forming, comprises the following steps：
(1) simulation underwater acoustic target radiated noise s (t)；
(2) analogue observation array signal xi(t), i=1,2 ..., M, M be towed array in array element number；
(3) based on preferable Wave beam forming rough estimate target bearing For guiding of echo signal beam energy when maximum
Angle；
(4) L prominent line spectrum positions of detection echo signalL=1,2 ..., L；
(5) the poor Δ τ of the average delay of each array element in the phase difference estimation towed array of strong line spectrum positioni, i=1,
2,...,M；
(6) the enhanced target beam of fidelity is obtained based on estimation time delay
Specifically, underwater acoustic target radiated noise s (t) includes stable and continuous spectral component sc(t) with line spectrum component sl(t)；
The stable and continuous spectral component sc(t) obtaining step is as follows：
(A.1) using the power spectrum Gxf (ω of three parameter model method simulation stable and continuous spectrumt)：
Wherein ωm, ωcThree parameters with λ is three parameter model, determine the shape of the continuous spectrum；ωtFor frequency,
ωmFor the sharpness factor, the acuity and height of spectrum cutting edge of a knife or a sword, ω are determinedcThe position of spectrum cutting edge of a knife or a sword is determined, λ determines power spectrum high and low frequency
The relative scale of end amplitude, σ represents the energy of stable and continuous spectrum signal；
(A.2) p rank AR wave filters are set up, its Yule-Walker equation is：
Wherein a [l], l ∈ { 1,2 ..., p } and b0For p rank AR filter coefficients, δ [k] is impulse function；rx[k] is Gxf
(ωt) auto-correlation function rcThe sampled value of (τ)；
(A.3) Levison-Durbin Algorithm for Solving formula (2) equation is used, p rank AR filter coefficients are obtained；Gauss white noise
Sound is by the signal obtained after the AR wave filters, the stable and continuous spectral component s as in underwater acoustic target radiated noisec(t)；
The line spectrum component sl(t) obtaining step is as follows：
(B.1) using K sinusoidal signalCome the line spectrum component of simulated target signal, wherein Ak
For sinusoidal signal amplitude, fkFor the frequency of sinusoidal signal, t ∈ [0, T] are observation time；
(B.2) online spectral position fkPlace calculates stable and continuous spectral component sc(t) energy PIk, k=1,2 ..., K；
(B.3) according to known signal-to-noise ratioCalculate each sinusoidal signal amplitude Ak, i.e.,
Obtain the line spectrum component s in underwater acoustic target radiated noisel(t)。
Specifically, step (2) comprises the following steps：
(2.1) first array element in towed array is set to reference array element, its array element data is：
s1(t)=s (t)；
(2.2) the array element data of remaining M-1 array element are in towed array：
si(t)=s [t-timeDelay (i)], i=2 ..., M；
Wherein timeDelay (i) is time delay of i-th of the array element relative to reference array element：
The distance between tarDis (i) is sound source with i-th array element, and v is spread speed of the sound in water.
(2.3) according to known signal to noise ratioCalculate energy Pn, and energy is generated for Pn
M roads white Gaussian noise ni(t), wherein i=1 ..., M, sl(t) it is underwater acoustic target radiated noise line spectrum component；
(2.4) observation array signal xi(t) it is：xi(t)=si(t)+ni(t)。
Specifically, step (3) comprises the following steps：
(3.1) desired homogeneous linear array is calculated in pilot angle θmUnder adjacent array element delay, τm：
Wherein m=1 ..., M+1, M+1 are total pilot angle number, and d is the distance between adjacent array element；
(3.2) delayed addition is carried out to each array element data, obtains echo signal beam energy figure：
(3.3) pilot angle when beam energy maximum value position is found by energy measuring is the rough estimate of target bearing
Specifically, step (4) comprises the following steps：
(4.1) according to the target bearing of rough estimateCalculate the time delay estimation of each array element
(4.2) each array element data are prolonged into estimation on timeAlignd with reference array element, the array element data coherent phase after alignment is added
Obtain target beam g (t)：
(4.3) Fourier transformation is carried out to g (t) and obtains echo signal frequency spectrum G (ω), while utilizing sliding window smoothing technique
Estimate echo signal continuous spectrum Gc(ω), deletes continuous spectrum G in echo signal frequency spectrum G (ω)cThe influence of (ω), obtains target
The line spectrum G of signall(ω), L prominent line spectrums are estimated using energy measuringL=1 ..., L, wherein L are estimation line
The number of spectrum；
(4.4) frequency of each array element in towed array is calculatedWherein i=1 ..., M, l=1 ..., L；Then i-th
Array element, the phase of l-th of line spectrum areWherein Phase [] is calculating signal phase computing.
Specifically, step (5) comprises the following steps：
Obtaining i-th of array element average delay difference for L strong line spectrum isWherein Δ τilFor l-th
I-th and the i-th -1 array element phase difference at line spectrum position, WithRespectively l
The phase of i-th and the i-th -1 array element at individual line spectrum position.
Specifically, step (6) comprises the following steps：
(6.1) the delay inequality ζ of i-th of array element and reference array element is calculatedi：Wherein Δ τ0For j-th of array element
Average delay is poor；
(6.2) the enhanced target beam of fidelity is obtained
Beneficial effect：Fidelity disclosed by the invention based on distortion towed array strengthens the method for Wave beam forming, first by
Beamforming Method based on preferable formation carries out rough estimate to the arrival bearing of echo signal；Then obtained using arrival bearing
The tracking beam of echo signal, secondly carries out Fourier transformation to tracking beam and obtains target spectrum characteristic, while in frequency domain
Carry out the strong line-spectrum detection of target；Each array element data are calculated correspondence line spectrum by the line spectrum information based on detection using Fourier transformation；
Finally, the line spectrum phase of each array element is extracted, the time delay of adjacent array element is gone out by calculating adjacent array element phase difference estimation, while sharp
Each array element signals are entered with line delay with the time delay of estimation to align, so as to realize the enhanced wave beam of fidelity under distortion formation environment
Formed.Compared with prior art, method disclosed by the invention has advantages below：Beamforming Method disclosed by the invention is direct
From the array number received line spectrum according to estimates, based on the time delay between the adjacent array element of estimation line spectrum phase estimation, realize adaptive
The fidelity based on distortion towed array strengthen beam-forming technology, using it is simple directly, economic cost is low and effect substantially, computing
Amount is smaller, and correction accuracy is higher.
Brief description of the drawings
Fig. 1 is the flow chart of the inventive method；
Fig. 2 is the frequency spectrum of target radiated noise signal in embodiment 1；
Fig. 3 is the element position figure of distortion towed array in embodiment 1；
Fig. 4 is the beam energy figure based on preferable formation in embodiment 1；
Fig. 5 is true time delay in embodiment 1, after the estimation time delay based on preferable battle array and correction time delay comparison diagram；
Fig. 6 is the tracking after original data spectrum, the tracking beam frequency spectrum based on ideal position and correction in embodiment 1
The comparison diagram of wave beam frequency spectrum；
Fig. 7 is tracking beam line spectrum range error in embodiment 2 with signal to noise ratio change schematic diagram.
Embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated.
A kind of fidelity based on distortion towed array strengthens the method for Wave beam forming, as shown in figure 1, comprising the following steps：
Step 1, simulation underwater acoustic target radiated noise s (t)；
Underwater acoustic target radiated noise s (t) includes stable and continuous spectral component sc(t) with line spectrum component sl(t), i.e.,：
S (t)=sc(t)+sl(t)
The stable and continuous spectral component sc(t) obtaining step is as follows：
(A.1) using the power spectrum Gxf (ω of classical three parameter model method simulation stable and continuous spectrumt)：
Wherein ωm, ωcThree parameters with λ is three parameter model, determine the shape of the continuous spectrum；ωtFor frequency,
ωmFor the sharpness factor, the acuity and height of spectrum cutting edge of a knife or a sword, ω are determinedcThe position of spectrum cutting edge of a knife or a sword is determined, λ determines power spectrum high and low frequency
The relative scale of end amplitude, σ represents the energy of stable and continuous spectrum signal；
(A.2) according to Wiener-Khinchin theorems, the inverse Fourier transform of formula (1) is stable and continuous spectrum signal
Auto-correlation function rc(τ), can be write as：
rc(τ)=σ exp (- ωm|τ|)[cosωcτ+λsin(ωc|τ|)]
Assuming that with FsEqual interval sampling is carried out to time-domain signal for sample rate, then above-mentioned auto-correlation function can be write as discrete
Form is,
rc(kTs)=σ exp (- ωm|kTs|)[cosωckTs+λsin(ωc|kTs|)]
Wherein Ts=1/Fs；P rank AR wave filters are set up according to formula (1), its Yule-Walker equation is：
Wherein a [l], l ∈ { 1,2 ..., p } and b0For p rank AR filter coefficients, δ [k] is impulse function；rx[k] is Gxf
(ωt) auto-correlation function rcThe sampled value of (τ)；
(A.3) Levison-Durbin Algorithm for Solving formula (2) equation is used, p rank AR filter coefficients are obtained；Gauss white noise
Sound is by the signal obtained after the AR wave filters, the stable and continuous spectral component s as in underwater acoustic target radiated noisec(t)；
The line spectrum component sl(t) obtaining step is as follows：
(B.1) using K sinusoidal signalCome the line spectrum component of simulated target signal, wherein Ak
For sinusoidal signal amplitude, fkFor the frequency of sinusoidal signal, t ∈ [0, T] are observation time；
(B.2) online spectral position fkPlace calculates stable and continuous spectral component sc(t) energy PIk, k=1,2 ..., K；
(B.3) according to known signal-to-noise ratioCalculate each sinusoidal signal amplitude Ak, i.e.,
Obtain the line spectrum component s in underwater acoustic target radiated noisel(t)。
Step 2, analogue observation array signal xi(t)；Assuming that towed array is the distortion formation for having M array element, i.e. i=1,
2,...,M；Obtain observing array signal by step (2.1) to (2.4)：
(2.1) first array element in towed array is set to reference array element, its array element data is：
s1(t)=s (t)；
(2.2) the array element data of remaining M-1 array element are in towed array：
si(t)=s [t-timeDelay (i)], i=2 ..., M；
Wherein timeDelay (i) is time delay of i-th of the array element relative to reference array element：
TarDis (i) is that sound source the distance between is target with i-th array element, and v is spread speed of the sound in water；
(2.3) according to known signal to noise ratioCalculate energy Pn, and energy is generated for Pn
M roads white Gaussian noise ni(t), wherein i=1 ..., M, sl(t) it is underwater acoustic target radiated noise line spectrum component；
(2.4) observation array signal xi(t) it is：xi(t)=si(t)+ni(t)；
Step 3, based on preferable Wave beam forming rough estimate target bearing During for echo signal beam energy maximum
Pilot angle；Specifically include following steps：
(3.1) due to the distortion situation of formation can not be known in advance, carry out first based on preferable formation, i.e. even linear array
Wave beam forming；I-th of array element to the time difference between reference array element be τi=(i-1) τ, wherein τ are adjacent array element delay inequality.Examine
Consider the flexible structure of towing hydrophone, it is assumed that adjacent array element spacing d keeps constant；In pilot angle θmUnder adjacent array element delay, τm：
Wherein m=1 ..., M+1, M+1 are total pilot angle number, and d is the distance between adjacent array element；
(3.2) delayed addition is carried out to each array element data, obtains echo signal beam energy figure：
(3.3) pilot angle when beam energy maximum value position is found by energy measuring is the rough estimate of target bearing
Step 4, L prominent line spectrum positions for detecting echo signalL=1,2 ..., L；Specifically include as follows
Step：
(4.1) according to the target bearing of rough estimateCalculate the time delay estimation of each array element
(4.2) each array element data are prolonged into estimation on timeAlignd with reference array element, the array element data coherent phase after alignment is added
Obtain target beam g (t)：
(4.3) Fourier transformation is carried out to g (t) and obtains echo signal frequency spectrum G (ω), while utilizing sliding window smoothing technique
Estimate echo signal continuous spectrum Gc(ω), deletes continuous spectrum G in echo signal frequency spectrum G (ω)cThe influence of (ω), obtains target
The line spectrum G of signall(ω), L prominent line spectrums are estimated using energy measuringL=1 ..., L, wherein L are estimation line
The number of spectrum；
(4.4) frequency of each array element in towed array is calculatedWherein i=1 ..., M, l=1 ..., L；Then i-th
Array element, the phase of l-th of line spectrum areWherein Phase [] is calculating signal phase computing.
Step 5, the poor Δ τ of the average delay of each array element in the phase difference estimation towed array of strong line spectrum positioni, i=
1,2,...,M；Concretely comprise the following steps：
Obtaining i-th of array element average delay difference for L strong line spectrum isWherein Δ τilFor l-th
I-th and the i-th -1 array element phase difference at line spectrum position, WithRespectively l
The phase of i-th and the i-th -1 array element at individual line spectrum position.
Step 6, the enhanced target beam of fidelity obtained based on estimation time delaySpecifically include：
(6.1) the delay inequality ζ of i-th of array element and reference array element is calculatedi：Wherein Δ τjFor j-th of array element
Average delay is poor；
(6.2) the enhanced target beam of fidelity is obtained
Embodiment 1：
In the present embodiment, sample frequency Fs=32kHz, spread speed v of the sound in water is taken as 1500m/s.Utilize three
The power spectrum Gxf of the stable and continuous spectrum of parameter model simulation underwater acoustic target radiated noise, three parameter settings are such as in simulation process
Under：ωm=2 π × 500rad/s, ωc=2 π × 1000rad/s, λ=0, stable and continuous spectrum signal energy σ=1.
6 line spectrum components of simulated target radiated noise：By steadily connecting at line spectrum position
The energy P of continuous spectrumIWith known signal-to-noise ratio SIR=10, byObtain the width of each sinusoidal signal
Spend Ai.The frequency f of sinusoidal signaliRespectively 20Hz, 45Hz, 60Hz, 100Hz, 200Hz, 500Hz.Observation time is T=20s.
Stable and continuous spectral component and line spectrum component are added up, target radiated noise signal s (t) is obtained.Target radiated noise signal
Frequency spectrum it is as shown in Figure 2.
In the present embodiment, towed array number M=100, array element spacing d=0.8, each array element particular location for the array that distorts is such as
Shown in Fig. 3.Assuming that the angle of target and array element normal direction is 30 °, the distance with reference array element is 1000m.If sound source and i-th
The distance between individual array element difference is tarDis (i), then i-th of array element can be with relative to the time delay timeDelay (i) of reference array element
Write as：
Using the signal shown in Fig. 2 as reference array element array element data, for i-th of array element, according to time delay formula to ginseng
Examine array element signals and carry out time delay, be derived from the array data of 100 array element.To each array element data si(t) Gauss white noise is added
Sound, signal to noise ratio is -15dB, obtains observation data xi(t)。
In this embodiment, the Wave beam forming based on preferable formation is as shown in Figure 4.Beam energy is found by energy measuring
Maximum value position obtains the rough estimate of target bearing
The adjacent array element that Fig. 5 is given true time delay between the adjacent array element of distortion towed array, estimated based on preferable linear array
The adjacent array element time delay that time delay and the phase difference estimation obtained according to strong line spectrum go out.Wherein curve 1 is based on preferable formation
Estimation time delay, curve 2 is theoretical time delay, and curve 3 is the adjacent array element time delay that the phase difference estimation obtained according to strong line spectrum goes out.From
It can be seen from the figure that, method disclosed by the invention can effectively estimate the time delay between distortion towing line array array element.
Fig. 6 gives initial data frequency spectrum, the tracking target after tracking beam frequency spectrum and correction based on ideal position
The comparison diagram of frequency spectrum.It can be seen that compared with traditional Beamforming Method, fidelity disclosed by the invention strengthens wave beam
The wave beam frequency spectrum of forming method formation is closer to initial data actual value, and the effect of Wave beam forming has obtained fidelity enhancing.
Embodiment 2：
The present embodiment Main Analysis and checking signal to noise ratio strengthen fidelity disclosed by the invention the influence of Wave beam forming.Observation
Time is T=20s.Data SNR is from -45dB to -10dB, for each signal to noise ratio, if the amplitude of estimation Wave beam forming is relative
Error is E,AiRepresent amplitude of the initial data frequency spectrum at i-th of line spectrum position, PAiRepresent estimation ripple
Amplitude of the beam formation frequency spectrum at i-th of line spectrum position.Performance Evaluating Indexes are used as using tracking beam line spectrum amplitude relative error.
As Fig. 7 gives line spectrum reconstruction error with signal to noise ratio change schematic diagram.It can be seen that as signal to noise ratio is improved, being based on
The reconstruction error of fidelity enhancing Wave beam forming is gradually smaller；And the Beamforming Method based on preferable formation is not effective due to it
Array calibration ability, with the raising of signal to noise ratio, its reconstruction error is varied less with signal to noise ratio.
Claims (7)
1. a kind of fidelity based on distortion towed array strengthens the method for Wave beam forming, it is characterised in that comprise the following steps：
(1) simulation underwater acoustic target radiated noise s (t)；
(2) analogue observation array signal xi(t), i=1,2 ..., M, M be towed array in array element number；
(3) based on preferable Wave beam forming rough estimate target bearingFor pilot angle of echo signal beam energy when maximum；
(4) L prominent line spectrum positions of detection echo signal
(5) in the phase difference estimation towed array of strong line spectrum position each array element average delay difference △ τi, i=1,2 ...,
M；
(6) the enhanced target beam of fidelity is obtained based on estimation time delay
2. the fidelity according to claim 1 based on distortion towed array strengthens the method for Wave beam forming, it is characterised in that water
Acoustic target radiated noise s (t) includes stable and continuous spectral component sc(t) with line spectrum component sl(t)；
The stable and continuous spectral component sc(t) obtaining step is as follows：
(A.1) using the power spectrum Gxf (ω of three parameter model method simulation stable and continuous spectrumt)：
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<mo>&rsqb;</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein ωm, ωcThree parameters with λ is three parameter model, determine the shape of the continuous spectrum；ωtFor frequency, ωmFor point
The acutance factor, determines the acuity and height of spectrum cutting edge of a knife or a sword, ωcThe position of spectrum cutting edge of a knife or a sword is determined, λ determines power spectrum high and low frequency end amplitude
Relative scale, σ represents the energy of stable and continuous spectrum signal；
(A.2) p rank AR wave filters are set up, its Yule-Walker equation is：
<mrow>
<msub>
<mi>r</mi>
<mi>x</mi>
</msub>
<mo>&lsqb;</mo>
<mi>k</mi>
<mo>&rsqb;</mo>
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<mo>&Sigma;</mo>
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<mo>=</mo>
<mn>1</mn>
</mrow>
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<mo>&rsqb;</mo>
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</msub>
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<mo>-</mo>
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<msubsup>
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<mn>0</mn>
<mn>2</mn>
</msubsup>
<mi>&delta;</mi>
<mo>&lsqb;</mo>
<mi>k</mi>
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<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
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</mrow>
</mrow>
Wherein a [l], l ∈ { 1,2 ..., p } and b0For p rank AR filter coefficients, δ [k] is impulse function；rx[k] is Gxf (ωt)
Auto-correlation function rcThe sampled value of (τ)；
(A.3) Levison-Durbin Algorithm for Solving formula (2) equation is used, p rank AR filter coefficients are obtained；White Gaussian noise leads to
The signal obtained after the AR wave filters is crossed, the stable and continuous spectral component s as in underwater acoustic target radiated noisec(t)；
The line spectrum component sl(t) obtaining step is as follows：
(B.1) using K sinusoidal signalCome the line spectrum component of simulated target signal, wherein AkFor just
String signal amplitude, fkFor the frequency of sinusoidal signal, t ∈ [0, T] are observation time；
(B.2) online spectral position fkPlace calculates stable and continuous spectral component sc(t) energy PIk, k=1,2 ..., K；
(B.3) according to known signal-to-noise ratioCalculate each sinusoidal signal amplitude Ak, that is, obtain
Line spectrum component s in underwater acoustic target radiated noisel(t)。
3. the fidelity according to claim 1 based on distortion towed array strengthens the method for Wave beam forming, it is characterised in that step
Suddenly (2) comprise the following steps：
(2.1) first array element in towed array is set to reference array element, its array element data is：
s1(t)=s (t)；
(2.2) the array element data of remaining M-1 array element are in towed array：
si(t)=s [t-timeDelay (i)], i=2 ..., M；
Wherein timeDelay (i) is time delay of i-th of the array element relative to reference array element：
<mrow>
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<mi>M</mi>
</mrow>
The distance between tarDis (i) is sound source with i-th array element, and v is spread speed of the sound in water.
(2.3) according to known signal to noise ratioCalculate energy Pn, and energy is generated for PnM roads
White Gaussian noise ni(t), wherein i=1 ..., M, sl(t) it is underwater acoustic target radiated noise line spectrum component；
(2.4) observation array signal xi(t) it is：xi(t)=si(t)+ni(t)。
4. the fidelity according to claim 1 based on distortion towed array strengthens the method for Wave beam forming, it is characterised in that step
Suddenly (3) comprise the following steps：
(3.1) desired homogeneous linear array is calculated in pilot angle θmUnder adjacent array element delay, τm：
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<mi>sin&theta;</mi>
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<mi>v</mi>
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</mrow>
Wherein m=1 ..., M+1, M+1 are total pilot angle number, and d is the distance between adjacent array element；
(3.2) delayed addition is carried out to each array element data, obtains echo signal beam energy figure：
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(3.3) pilot angle when beam energy maximum value position is found by energy measuring is the rough estimate of target bearing
5. the fidelity according to claim 1 based on distortion towed array strengthens the method for Wave beam forming, it is characterised in that step
Suddenly (4) comprise the following steps：
(4.1) according to the target bearing of rough estimateCalculate the time delay estimation of each array element
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(4.2) each array element data are prolonged into estimation on timeAlignd with reference array element, acquisition is added to the array element data coherent phase after alignment
Target beam g (t)：
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<mi>&tau;</mi>
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(4.3) Fourier transformation is carried out to g (t) and obtains echo signal frequency spectrum G (ω), while being estimated using sliding window smoothing technique
Echo signal continuous spectrum Gc(ω), deletes continuous spectrum G in echo signal frequency spectrum G (ω)cThe influence of (ω), obtains echo signal
Line spectrum Gl(ω), L prominent line spectrums are estimated using energy measuringWherein L is estimation line spectrum
Number；
(4.4) frequency of each array element in towed array is calculatedWherein i=1 ..., M, l=1 ..., L；Then i-th array element,
The phase of l-th of line spectrum isWherein Phase [] is calculating signal phase computing.
6. the fidelity according to claim 1 based on distortion towed array strengthens the method for Wave beam forming, it is characterised in that step
Suddenly (5) comprise the following steps：
Obtaining i-th of array element average delay difference for L strong line spectrum isWherein △ τilFor l-th of line spectrum
I-th and the i-th -1 array element phase difference at position, WithRespectively l-th line
The phase of i-th and the i-th -1 array element at spectral position.
7. the fidelity according to claim 1 based on distortion towed array strengthens the method for Wave beam forming, it is characterised in that step
Suddenly (6) comprise the following steps：
(6.1) the delay inequality ζ of i-th of array element and reference array element is calculatedi：Wherein △ τjIt is averaged for j-th of array element
Delay inequality；
(6.2) the enhanced target beam of fidelity is obtained
<mrow>
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<mo>^</mo>
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<msub>
<mi>&zeta;</mi>
<mi>i</mi>
</msub>
<mo>&rsqb;</mo>
<mo>.</mo>
</mrow>
3
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