CN108169731A - Towing line array array shape estimation method and apparatus based on single near field correction source - Google Patents
Towing line array array shape estimation method and apparatus based on single near field correction source Download PDFInfo
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- CN108169731A CN108169731A CN201711433605.XA CN201711433605A CN108169731A CN 108169731 A CN108169731 A CN 108169731A CN 201711433605 A CN201711433605 A CN 201711433605A CN 108169731 A CN108169731 A CN 108169731A
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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
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- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/5205—Means for monitoring or calibrating
Abstract
The invention belongs to array signal processing field, to realize the refined orientation control of calibration source, so as to improve array shape estimation precision.For this purpose, the technical solution adopted by the present invention is, the towing line array array shape estimation method and apparatus based on single near field correction source, by tow vessel, near field correction source, towing line array, array element, signal acquisition module, signal transmission module and signal processing module composition；Near field correction source is mounted on the head or tail portion of tow vessel, and pass through the position coordinates that position sensor determines calibration source, array element receives the acoustical signal propagated by underwater acoustic channel, and it is translated into electric signal, electric signal is acquired by signal acquisition module, analog signal is converted into digital signal, each array element data are subjected to packing coded treatment, and be transmitted to signal processing module in signal transmission module.Present invention is mainly applied to array signal processing occasions.
Description
Technical field
The invention belongs to array signal processing field, especially with regard to the towing line array formation based on single near field correction source
Method of estimation and device.
Background technology
Starboard ambiguity of towed linear array sonar is widely used to marine monitoring and strategic early-warning etc., but due to the change of hull speed
Change, the suddenly disturbance of steering, ocean current etc. so that pulling formation bends, and for example multiple letter of most of array signal processing algorithms
Number classification (Multiple Signal Classification, hereinafter referred to as MUSIC), subspace fitting etc. are in formation essence
Positioning is realized under the premise of indeed knowing, so first having to be corrected formation before sound bearing angle is estimated.Mesh
Preceding active formation method of estimation assumes auxiliary corrective information source for far field source, and the aperture of starboard ambiguity of towed linear array sonar system generally compared with
Greatly, the accurately known calibration source in orientation need to be placed in the position far from test platforms such as ships, but due to marine complicated sea situation
Cause it is difficult to ensure that the refined orientation of far field calibration source so that formation after the correction error compared with practical formation is larger, this is big
Practical application is limited greatly.Far field calibration source problem encountered is utilized in order to overcome, the present invention proposes a kind of using single
The high-precision towed array array shape estimation method and device of near field sources.By the way that near field calibration source is put in tow vessel, can realize
The refined orientation control of calibration source, so as to improve array shape estimation precision.
Invention content
In order to overcome the deficiencies of the prior art, the present invention is directed to propose a kind of high-precision tow line using single near field correction source
Array array shape estimation method and device.By the way that near field calibration source is put in tow vessel, the refined orientation control of calibration source is realized,
So as to improve array shape estimation precision.For this purpose, the technical solution adopted by the present invention is, the towing line array based on single near field correction source
Array shape estimation device, by tow vessel, near field correction source, towing line array, array element, signal acquisition module, signal transmission module and
Signal processing module forms；The first array element of towing line array is set as reference array element, the position of reference array element is by global positioning system
System GPS (Global Positioning System) or Big Dipper position sensor measure, and are established directly by origin of reference array element
Angular coordinate system；Near field correction source is mounted on the head or tail portion of tow vessel, and passes through the position that position sensor determines calibration source
Coordinate, for emitting the designed underwater sound signal for being used to correct formation, under the premise of known to linear array array element spacing, array element
The acoustical signal propagated by underwater acoustic channel is received, and is translated into electric signal, electric signal is carried out by signal acquisition module
Acquisition, is converted into digital signal by analog signal, each array element data is carried out packing coded treatment in signal transmission module,
And signal processing module is transmitted to, the position that signal processing module is used to obtain each array element by the processing of array shape estimation algorithm is sat
Mark.
Array shape estimation algorithm comprises the concrete steps that different array elements receive the phase difference method for solving of data：Concentrating rate
Since the influence of utilizing ocean current or ship's speed variation etc. bends, ignore the reflex for correcting acoustical signal and array element in depth side
To variation, single near field correction source transmitting acoustical signal receives by M array element, and array received data vector is expressed as,
X (t)=AS (t)+N (t) (1)
Wherein X (t) is that snapshot data vector is tieed up in M × 1 of array, and A ties up array manifold matrix for M × 1, and S (t) is that space is believed
Number vector, N (t) are the dimension noise data vector of M × 1 of array, establish rectangular coordinate system by origin of reference array element, (xi,yi) be
The position coordinates of i-th of array element, i=2,3 ..., M, (x1,y1) it is known reference array element position coordinates, θ is the side of calibration source
Position angle of arrival DOA (Direction of Arrival) receives the phase difference △ φ of data for solving different array elementsiPart,
Element number of array M is set first, then solves the covariance matrix R for receiving data vector, and Eigenvalues Decomposition is carried out to R, according to
Array signal processing is theoretical, according to the phase difference of the phase solution difference array element of feature vector, for further estimating array element
Position coordinates；
Establish the array shape estimation model based on single near field correction source：It is approximately straight line between adjacent array element, distance is d, closely
Field calibration source S1(xa,ya) to reference array element distance be r1, DOA θ, (x1,y1) be known reference array element position coordinates,
riFor calibration source S1To the distance of i-th of array element, near field correction source and the position of reference array element are obtained by position sensors such as GPS
It puts, rectangular coordinate system is established by origin of reference array element, then according to the phase difference △ φ between the different array elements solved abovei
Two adjacent array elements represent as follows to the distance between reference array element difference,
ri=ri-1-△φi·λ/(2·π) (2)
According to the distance r in the near field correction source of initial calculation to reference array element1, each array element is iteratively solved out to reference to battle array
The distance of member, because the acoustical signal of near field correction source transmitting is spherical wave, near field correction source S1Polar coordinate system is established for origin, then
The polar angle of i-th of array elementIt is expressed as,
Rectangular co-ordinate (the x of i-th of array elementi,yi) be calculated by following formula,
The position coordinates of each array element are solved by array shape estimation algorithm, so as to fulfill towing line array array shape estimation and school
Just.
The first array element of array element is set as reference array element by the towing line array array shape estimation method based on single near field correction source,
Its position is measured, and by GPS (Global Positioning System) or Big Dipper position sensor using reference array element as origin
Establish rectangular coordinate system；Near field calibration source is mounted on to the head or tail portion of tow vessel, and passes through position sensor and determines to correct
The position coordinates in source, it is designed for correcting the underwater sound signal of formation for emitting, before known to linear array array element spacing
It puts, array element receives the acoustical signal propagated by underwater acoustic channel, and is translated into electric signal, by signal acquisition module to electricity
Signal is acquired, and analog signal is converted into digital signal, is packaged each array element data in signal transmission module
Coded treatment, and signal processing module is transmitted to, signal processing module is used to obtain each array element by the processing of array shape estimation algorithm
Position coordinates.
In an example, it comprises the following specific steps that：
The first step is the relevant parameter for placing near field correction source and setting transmitting acoustical signal；
According to the 0.62 (D of near field sources distance condition of array3/λ)1/2<r≤2D2/ λ, wherein D are array aperture, and λ is letter
The centre wavelength in number source；R is distance of the signal source to reference array element, and near field calibration source is fixed on the appropriate position of towing quarter
It puts, by the positions sensor measurement such as GPS and is converted to the rectangular co-ordinate near field correction source as (0,150), then near field correction
The distance of source to reference array element is 150m, and arrival bearing angle DOA is 0 °；Emit acoustical signal and choose sinusoidal signal, centre frequency is
125Hz；Concentrating rate is chosen in experiment, array number M is 25, and array element spacing d is 3m；The sample frequency of signal acquisition module is
1kHz；It is 100 times to set replicated experimental units, avoids the contingency of experimental result；
Second step is to solve for the phase difference that different array elements receive acoustical signal；
Array element receives the acoustical signal propagated by underwater acoustic channel, and is translated into electric signal, passes through signal acquisition module
Control centre being transmitted to transmission module to be handled, the acoustical signal of the near field correction source transmitting of placement is received by 25 array elements,
Comprising array configuration relevant information in the array manifold matrix A of 25 × 1 dimensions, it is expressed as,
Wherein φkFor near field correction source to the phase of k-th of array element, k=1,2 ..., 25.It is expressed as,
Wherein r is distance of the near field correction source to reference array element, is 150m, and λ is the centre wavelength of calibration source, is 12m,
(xk,yk) (k=1,2 ..., be 25) position coordinates of k-th array element, θ is the DOA that calibration source arrives reference array element, is 0 °, into one
Step ground solves the covariance R for receiving data vector, and carries out Eigenvalues Decomposition to R, represents as follows,
Wherein ΣsIt is characterized value ξkThe diagonal matrix of composition, ekIt is theoretical according to array signal processing for corresponding feature vector,
The subspace that the column vector of signal subspace and array manifold matrix A is turned into is identical, different according to the phase solution of feature vector
The phase difference of array element, is further represented as, phasek=Arg (ek), then the phase difference of i-th of array element to k-th of array element is,
φk-φi=Arg (ek)-Arg(ei) i=2,3 ..., M；K=1,2 ..., M (8)
Thus the phase difference between different array elements is obtained, for estimating the position coordinates of array element；
Third step is according to the array shape estimation model solution element position coordinate based on single near field sources；
Phase difference between the different array elements solved according to second step obtains the distance between two adjacent array elements difference, represents
It is as follows,
△di=△ φi·λ/(2·π) (9)
According to the distance r in the near field correction source of initial calculation to reference array element124 and adjacent array element between reference array element
Range difference, iteratively solve out each array element to the distance of reference array element, represent as follows,
r1=150m (10)
ri=ri-1-△φi·λ/(2·π) (11)
Because the acoustical signal of near field correction source transmitting is spherical wave, near field correction source S1Polar coordinate system is established for origin, then
The polar angle of i-th of array elementIt is expressed as,
Rectangular co-ordinate (the x of i-th of array elementi,yi) be expressed as,
4th step is to derive and analyze in the method for the present invention about the error and CRLB of array element coordinate
It is Φ=[φ that all array elements, which are defined, with respect to the phase vectors that reference array element receives data2,φ3,...,φM], then it closes
It can be represented in the CRLB of Φ by the inverse of Fisher information matrix J,
CRLB (Φ)=J-1 (14)
Wherein ρ (X | Φ) to receive probability density matrixes of the data matrix X about phase vectors Φ, because receiving data matrix
X obeys the multiple Gauss distribution of 0 mean value and data sampling point is relatively independent, so the association of Fisher information matrix J and reception data
Variance matrix R is expressed as,
Wherein N is sampling number, and A (Φ) is array manifold matrix,For the signal power near field correction source,To make an uproar
Acoustical signal power.Phases of the covariance matrix R about i-th of array elementiThe reciprocal representation of first derivative and R be,
Wherein M be element number of array, ViMatrix to be tieed up for (M-1) × (M-1), is 1 in cornerwise position, remaining is 0,
I is (M-1) × (M-1) the dimension matrixes that all elements are 1, and Signal to Noise Ratio (SNR) is represented bySo CRLB (Φ)
Represent as follows,
Wherein 1 for all elements be 1 the n dimensional vector n of (M-1) × 1, η=(M+1/SNR)/(MNSNR),
The x coordinate vector for defining array element is x=[x2(Φ),x3(Φ),...,xM(Φ)]T, then CRLB (x) can be by CRLB
The vector parameters of (Φ) convert to obtain, and the relationship of the two represents as follows,
So CRLB (x of i-th of array element coordinatei) and CRLB (yi) be expressed as,
According toDerive CRLB (xi,yi) be,
Wherein,
The features of the present invention and advantageous effect are：
The present invention can effectively overcome existing array shape estimation method mostly dependent on the poor practicability of far field calibration source, computationally intensive
The shortcomings that, by signal subspace it is identical with subspace that array manifold matrix column vector is turned into the characteristics of, difference can be solved
For array element to the phase difference between reference array element, computational methods are simple, reduce calculation amount；Battle array is carried out using single near field correction source
Shape is estimated, under the premise of known to towing line array array element spacing, by the way that near field calibration source is positioned in tow vessel, and Ke Yijing
The really orientation of control calibration source, meets practical situations, improves estimated accuracy；And the present invention subtracts only with a near field sources
Error caused by small calibration source position measurement inaccuracy, can further reduce calculation amount.
Description of the drawings：
The other purposes and aspect of the present invention become apparent refer to the attached drawing from detailed description below, in attached drawing：
Fig. 1 shows the towing line array array shape estimation general system proposal block diagram of the present invention.
Fig. 2 shows the present invention is based on the schematic diagrames of the array shape estimation model in single near field correction source.
Fig. 3 shows the array shape estimation method block diagram the present invention is based on single near field correction source.
Fig. 4 shows the average root-mean-square error of the element position coordinate under different Signal to Noise Ratio (SNR) in the present inventionWith
CRLB values.
Fig. 5 shows the estimated result of 5 kinds of different formation using the method for the present invention.
Fig. 6 shows the DOA estimated result figures using MUSIC algorithms before and after method proposed by the present invention correction formation.
In Fig. 1：1 is tow vessel；2 be near field correction source；3 underwater sound signal for being used to correct formation for calibration source transmitting；4
For towing line array；5 be the rectangular coordinate system established by origin of reference array element；6 be array element；7 be signal acquisition module；8 are
Signal transmission module；9 be signal processing module；10 be sea level.
In Fig. 2：11 be concentrating rate；12 be single near field correction source；13 be array element；14 be reference array element；15 be with
Reference array element is the rectangular coordinate system that origin is established.
In Fig. 3：16 be setting element number of array M；17 acquire acoustical signal for each array element and are transmitted to control centre and are handled
Module；18 be to solve the covariance matrix R for receiving data；19 be to carry out Eigenvalues Decomposition to covariance matrix R；20 be by feature
The phase difference of vectorial phase solution difference array element；21 be to solve the phase difference module that different array elements receive acoustical signal；22 be by GPS
Position sensors is waited to obtain the location information of near field correction source and reference array element；23 is solve the distance between adjacent array element difference；
24 be the distance for solving calibration source to reference array element；25 be distance of each array element of iterative solution to reference array element；26 be near
Field calibration source establishes polar coordinate system for origin；27 be the polar angle for solving each array element28 be the position coordinates for solving each array element
(x,y)；29 be the array shape estimation module based on single near field correction source.
Specific embodiment
The shortcomings that the purpose of the present invention is existing array shape estimation method is overcome more to depend on the poor practicability of far field calibration source,
A kind of method of the estimation towing line array formation using single near field correction source is provided, known to towing line array array element spacing
Under the premise of, by the way that near field calibration source is positioned in tow vessel, the orientation of calibration source can be accurately controlled, meets practical application feelings
Condition improves estimated accuracy；And the method for the present invention, only with a near field correction source, running parameter is reduced, and reduces calculation amount.
The first step is to determine the overall plan of towing line array array shape estimation system.
Towing line array array shape estimation general system proposal block diagram as shown in Figure 1, it mainly by tow vessel 1, near field correction
Source 2, towing line array 4, array element 6, signal acquisition module 7, signal transmission module 8 and signal processing module 9 form.
The first array element of array element 6 is set as reference array element, position is measured by position sensors such as GPS, and with reference array element
Rectangular coordinate system 5 is established for origin.Near field correction source 2 is mounted on the head or tail portion of tow vessel 1, to ensure correction source position
Accurate control, and pass through the position coordinates that position sensor determines calibration source, it is designed for correcting formation for emitting
Underwater sound signal 3, under the premise of known to linear array array element spacing, array element 6 receives the acoustical signal propagated by underwater acoustic channel, and will
It is converted into electric signal, and electric signal is acquired by signal acquisition module 7, and analog signal is converted into digital signal,
Each array element data are subjected to packing coded treatment in signal transmission module 8, and are transmitted to signal processing module 9, are estimated by formation
The processing of calculating method obtains the position coordinates of each array element, and digital information processing system (Digital can be relied on upper module
Signal Process, hereinafter referred to as DSP), field programmable gate array (Field-Programmable Gate Array,
Hereinafter referred to as FPGA), the hardware platforms such as risc microcontroller (Acorn RISC Machine, hereinafter referred to as ARM) realize.
Second step is to devise the phase difference method for solving that a kind of different array elements receive data.
As shown in Fig. 2, concentrating rate 11 is bent due to the influence of utilizing ocean current or ship's speed variation etc., it is assumed that correction
The reflex and array element of acoustical signal can be ignored in the variation of depth direction, and single near field correction source 12 emits acoustical signal by M
A hydrophone 13 (array element) receives, and array received data vector is represented by,
X (t)=AS (t)+N (t) (1)
Wherein X (t) is that snapshot data vector is tieed up in M × 1 of array, and A ties up array manifold matrix for M × 1, and S (t) is that space is believed
Number vector, N (t) are the dimension noise data vector of M × 1 of array.Rectangular coordinate system 15, (x are established for origin with reference array element 14i,
yi) position coordinates of (i=2,3 ..., M) for i-th of array element, θ is the DOA of calibration source.Fig. 3 is based on single near field correction source
Array shape estimation method block diagram.The phase difference portion 21 of data is received for solving different array elements, element number of array M 16 is set first,
The acoustical signal of all array element acquisition correction source transmittings is simultaneously transmitted to control centre's processing 17, which can rely on DSP, FPGA, ARM
Hardware platforms is waited to realize, then solve the covariance matrix R 18 for receiving data vector, and Eigenvalues Decomposition 19, root are carried out to R
According to array signal processing theory, the subspace that the column vector of signal subspace and array manifold matrix A is turned into is identical, therefore can root
According to the phase difference 20 of the phase solution difference array element of feature vector, for further estimating the position coordinates of array element.
Third step is to devise a kind of array shape estimation model based on single near field correction source.
Such as Fig. 2, it is assumed that be straight line between adjacent array element, distance is d, near field correction source S1(xa,ya) to reference array element 14
Distance is r1, DOA θ.(xi,yi) position coordinates for i-th array element, riFor calibration source S1To the distance of i-th of array element.Such as figure
The array shape estimation module 29 based on single near field sources shown in 3 obtains near field correction source and ginseng by position sensors such as GPS first
The position 22 of array element is examined, rectangular coordinate system is established by origin of reference array element, then according between the different array elements of second step solution
Phase difference △ φiTwo adjacent array elements can be obtained to the distance between reference array element poor 23, represent as follows,
ri=ri-1-△φiλ/(2 π), i=2,3 ..., M (2)
According to the distance r in the near field correction source of initial calculation to reference array element124, each array element can be iteratively solved out to ginseng
Examine the distance 25 of array element.Because the acoustical signal of near field correction source transmitting is spherical wave, near field correction source S1Pole is established for origin to sit
The polar angle of mark system 26, then i-th of array elementIt is represented by,
As shown in Figure 2, the rectangular co-ordinate (x of i-th of array elementi,yi) 28 can be calculated by following formula,
Carat Metro lower limit (Cram é r- of 4th step to the array shape estimation method based on single near field correction source proposed
Rao low bound, hereinafter referred to as CRLB) derived, by comparing different signal-to-noise ratio (Signal-Noise Ratio,
Hereinafter referred to as SNR) under element position coordinate root-mean-square error (Root-Mean-Square Error, abbreviation RMSE) and CRLB
Value, has shown that its root-mean-square error RMSE reduces with the increase of SNR, and with the conclusion that CRLB is not much different, demonstrate this
The correctness of method.
The technical scheme is that the first array element of towing line array is set as reference array element, position is by positions such as GPS
Sensor measures, and establishes rectangular coordinate system by origin of reference array element, and the near field correction source of experiment is mounted on tow vessel
Head or tail portion, and pass through the position coordinates that position sensor determines calibration source, it is designed for correcting battle array for emitting
The underwater sound signal of shape, array element receives the acoustical signal propagated by underwater acoustic channel, and is translated into electric signal, passes through signal acquisition
Module and transmission module are transmitted to control centre, which can rely on the realization of the hardware platforms such as DSP, FPGA, ARM, control centre
By solving different array elements to the geometrical relationship between the phase difference between reference array element and calibration source and array element, foundation is based on
The array shape estimation model in single near field correction source solves the position coordinates of each array element.
Below in conjunction with the accompanying drawings and the specific embodiment of the present invention is described in further detail the present invention.
The first step is the relevant parameter for placing near field correction source and setting transmitting acoustical signal.
According to the 0.62 (D of near field sources distance condition of array3/λ)1/2<r≤2D2/ λ, wherein D are array aperture, and λ is letter
The centre wavelength in number source；R is distance of the signal source to reference array element, and near field calibration source is fixed on the appropriate position of towing quarter
It puts, by the positions sensor measurement such as GPS and is converted to the rectangular co-ordinate near field correction source as (0,150), then near field correction
The distance of source to reference array element is 150m, and arrival bearing angle DOA is 0 °；Emit acoustical signal and choose sinusoidal signal, centre frequency is
125Hz；Concentrating rate is chosen in experiment, array number M is 25, and array element spacing d is 3m；The sample frequency of signal acquisition module is
1kHz；It is 100 times to set replicated experimental units, avoids the contingency of experimental result.
Second step is to solve for the phase difference that different array elements receive acoustical signal.
Array element receives the acoustical signal propagated by underwater acoustic channel, and is translated into electric signal, passes through signal acquisition module
Control centre is transmitted to transmission module to be handled, concentrating rate 11 occurs due to the influence of utilizing ocean current or ship's speed variation etc.
Bending, it is assumed that the reflex and array element for correcting acoustical signal can be ignored in the variation of depth direction, the near field correction source of placement
The acoustical signal of 12 transmittings is received by 25 hydrophones 13 (array element), and array configuration is included in the array manifold matrix A of 25 × 1 dimensions
Relevant information is represented by,
Wherein φkFor near field correction source to the phase of k-th of array element, k=1,2 ..., 25.It is expressed as,
Wherein r is distance of the near field correction source to reference array element 14, is 150m, and λ is the centre wavelength of calibration source, is 12m,
(xk,yk) position coordinates of (k=1,2 ..., M) for k-th of array element, θ is DOA of the calibration source to reference array element, is 0 °.Into one
Step ground solves the covariance R 18 for receiving data vector, and carries out Eigenvalues Decomposition 19 to R, represents as follows,
Wherein ΣsIt is characterized value ξkThe diagonal matrix of composition, ekIt is theoretical according to array signal processing for corresponding feature vector,
The subspace that the column vector of signal subspace and array manifold matrix A is turned into is identical, different according to the phase solution of feature vector
The phase difference 20 of array element, is further represented as, phasek=Arg (ek), then the phase difference of i-th of array element to k-th of array element is,
φk-φi=Arg (ek)-Arg(ei) i=2,3 ..., M；K=1,2 ..., M (8)
Thus the phase difference between different array elements can be obtained, for estimating the position coordinates of array element.
Third step is according to the array shape estimation model solution element position coordinate based on single near field sources.
Phase difference between the different array elements solved according to second step can obtain the distance between two adjacent array elements poor 23, table
Show it is as follows,
△di=△ φi·λ/(2·π) (9)
According to the distance r in the near field correction source of initial calculation to reference array element124 and adjacent array element between reference array element
Range difference, each array element can be iteratively solved out to the distance 25 of reference array element, represent as follows,
r1=150m (10)
ri=ri-1-△φi·λ/(2·π) (11)
Because the acoustical signal of near field correction source transmitting is spherical wave, near field correction source S1Polar coordinate system 26 is established for origin,
The then polar angle of i-th of array elementIt is represented by,
As shown in Figure 2, the rectangular co-ordinate (x of i-th of array elementi,yi) 28 be represented by,
4th step is to derive and analyze in the method for the present invention about the error and CRLB of array element coordinate
It is Φ=[φ that all array elements, which are defined, with respect to the phase vectors that reference array element receives data2,φ3,...,φM], then it closes
It can be represented in the CRLB of Φ by the inverse of Fisher information matrix J,
CRLB (Φ)=J-1 (14)
Wherein ρ (X | Φ) to receive probability density matrixes of the data matrix X about phase vectors Φ, because receiving data matrix
X obeys the multiple Gauss distribution of 0 mean value and data sampling point is relatively independent, so the association of Fisher information matrix J and reception data
Variance matrix R is expressed as,
Wherein N is sampling number, and A (Φ) is array manifold matrix,For the signal power near field correction source,To make an uproar
Acoustical signal power.Phases of the covariance matrix R about i-th of array elementiThe reciprocal representation of first derivative and R be,
Wherein M be element number of array, ViMatrix to be tieed up for (M-1) × (M-1), is 1 in cornerwise position, remaining is 0,
I is (M-1) × (M-1) the dimension matrixes that all elements are 1, and Signal to Noise Ratio (SNR) is represented bySo CRLB (Φ)
Represent as follows,
Wherein 1 for all elements be 1 the n dimensional vector n of (M-1) × 1, η=(M+1/SNR)/(MNSNR),
The x coordinate vector for defining array element is x=[x2(Φ),x3(Φ),...,xM(Φ)]T, then CRLB (x) can be by CRLB
The vector parameters of (Φ) convert to obtain, and the relationship of the two represents as follows,
So CRLB (x of i-th of array element coordinatei) and CRLB (yi) be expressed as,
According toDerive CRLB (xi,yi) be,
Wherein,
The average root-mean-square error amount of all array elements of towing line arraySolve as follows, M is element number of array,
P is Monte Carlo Experiment number.By the CRLB to array element coordinate withComparison, can further analyze proposed formation
The performance of method of estimation.
It is illustrated in figure 4 the average root-mean-square error of the element position coordinate under different Signal to Noise Ratio (SNR)And CRLB
Value, from fig. 4, it can be seen that the average root-mean-square error of array element coordinateReduce with the increase of SNR, and with CRLB phases
It is poor little, demonstrate the correctness of the method for the present invention.
Fig. 5 is the estimated result using 5 kinds of different formation of the method for the present invention, it can be seen that is corrected by the method for the present invention
The fitting degree of formation, estimation formation and practical formation is higher, can accurately realize array shape estimation.
Fig. 6 is using the DOA estimated result figures of MUSIC algorithms before and after method proposed by the present invention correction formation, chooses three
A far field source azimuth angle DOA to be estimated is -30 °, 30 °, 80 °.It can be seen from the figure that DOA estimations occur before array calibration
Fuzzy, DOA estimated results are -29.99 ° after correction, 29.95 °, 79.98 °, are not much different with true bearing angle, effectively improve
The estimation performance of the DOA of MUSIC algorithms, it was demonstrated that the validity of the method for the present invention.
Claims (4)
1. a kind of towing line array array shape estimation device based on single near field correction source, it is characterized in that, by tow vessel, near field correction
Source, towing line array, array element, signal acquisition module, signal transmission module and signal processing module composition；By towing line array
First array element is set as reference array element, and the position of reference array element is by global position system GPS (Global Positioning System)
Or Big Dipper position sensor measures, and establishes rectangular coordinate system by origin of reference array element；Near field correction source is mounted on tow vessel
Head or tail portion, and pass through the position coordinates that position sensor determines calibration source, it is designed for correcting battle array for emitting
The underwater sound signal of shape, under the premise of known to linear array array element spacing, array element receives the acoustical signal propagated by underwater acoustic channel, and
Electric signal is translated into, electric signal is acquired by signal acquisition module, analog signal is converted into digital signal,
Each array element data are subjected to packing coded treatment, and be transmitted to signal processing module in signal transmission module, signal processing module
For obtaining the position coordinates of each array element by the processing of array shape estimation algorithm.
2. the towing line array array shape estimation device based on single near field correction source as described in claim 1, it is characterized in that,
Array shape estimation algorithm comprises the concrete steps that different array elements receive the phase difference method for solving of data：Concentrating rate due to
Utilizing ocean current or ship's speed variation etc. influence bend, ignore correction acoustical signal reflex and array element in depth direction
Variation, single near field correction source transmitting acoustical signal are received by M array element, and array received data vector is expressed as：
X (t)=AS (t)+N (t) (1)
Wherein X (t) is that snapshot data vector is tieed up in M × 1 of array, and A ties up array manifold matrix for M × 1, and S (t) is that spacing wave is sweared
Amount, N (t) are that noise data vector is tieed up in M × 1 of array, establish rectangular coordinate system by origin of reference array element, (xi,yi) it is i-th
The position coordinates of a array element, i=2,3 ..., M, (x1,y1) it is known reference array element position coordinates, θ is the orientation of calibration source
Angle of arrival DOA (Direction of Arrival) receives the phase difference △ φ of data for solving different array elementsiPart, it is first
Element number of array M is first set, the covariance matrix R for receiving data vector is then solved, and Eigenvalues Decomposition is carried out to R, according to battle array
Column signal treatment theory, according to the phase difference of the phase solution difference array element of feature vector, for further estimating the position of array element
Put coordinate；
Establish the array shape estimation model based on single near field correction source：It is approximately straight line between adjacent array element, distance is d, near field school
Positive source S1(xa,ya) to reference array element distance be r1, DOA θ, (x1,y1) be known reference array element position coordinates, riFor
Calibration source S1To the distance of i-th of array element, near field correction source and the position of reference array element are obtained by position sensors such as GPS,
Rectangular coordinate system is established by origin of reference array element, then according to the phase difference △ φ between the different array elements solved aboveiObtain two
A adjacent array element represents as follows to the distance between reference array element difference,
ri=ri-1-△φi·λ/(2·π) (2)
According to the distance r in the near field correction source of initial calculation to reference array element1, each array element is iteratively solved out to reference array element
Distance, because the acoustical signal of near field correction source transmitting is spherical wave, near field correction source S1Establish polar coordinate system for origin, then i-th
The polar angle of a array elementIt is expressed as,
Rectangular co-ordinate (the x of i-th of array elementi,yi) be calculated by following formula,
The position coordinates of each array element are solved by array shape estimation algorithm, so as to fulfill towing line array array shape estimation and correction.
3. a kind of towing line array array shape estimation method based on single near field correction source, it is characterized in that, the first array element of array element is set
For reference array element, position is measured by GPS (Global Positioning System) or Big Dipper position sensor, and with ginseng
It examines array element and establishes rectangular coordinate system for origin；Near field calibration source is mounted on to the head or tail portion of tow vessel, and is passed by position
Sensor determines the position coordinates of calibration source, designed for correcting the underwater sound signal of formation for emitting, in linear array array element
Under the premise of spacing is known, array element receives the acoustical signal propagated by underwater acoustic channel, and is translated into electric signal, passes through signal
Acquisition module is acquired electric signal, and analog signal is converted into digital signal, by each array element in signal transmission module
Data carry out packing coded treatment, and are transmitted to signal processing module, and signal processing module is used for the place by array shape estimation algorithm
Reason obtains the position coordinates of each array element.
4. the towing line array array shape estimation method based on single near field correction source as claimed in claim 3, it is characterized in that, one
In a example, comprise the following specific steps that：
The first step is the relevant parameter for placing near field correction source and setting transmitting acoustical signal；
According to the 0.62 (D of near field sources distance condition of array3/λ)1/2<r≤2D2/ λ, wherein D are array aperture, and λ is signal source
Centre wavelength；R is distance of the signal source to reference array element, and near field calibration source is fixed on towing quarter appropriate location, is led to
It crosses the positions sensor measurement such as GPS and is converted to the rectangular co-ordinate near field correction source as (0,150), then near field correction source is to joining
The distance for examining array element is 150m, and arrival bearing angle DOA is 0 °；Emit acoustical signal and choose sinusoidal signal, centre frequency 125Hz；
Concentrating rate is chosen in experiment, array number M is 25, and array element spacing d is 3m；The sample frequency of signal acquisition module is 1kHz；
It is 100 times to set replicated experimental units, avoids the contingency of experimental result；
Second step is to solve for the phase difference that different array elements receive acoustical signal；
Array element receives the acoustical signal propagated by underwater acoustic channel, and is translated into electric signal, passes through signal acquisition module and biography
Defeated module is transmitted to control centre and is handled, and the acoustical signal of the near field correction source transmitting of placement is received by 25 array elements, 25 × 1
Comprising array configuration relevant information in the array manifold matrix A of dimension, it is expressed as,
Wherein φkFor near field correction source to the phase of k-th of array element, k=1,2 ..., 25, it is expressed as,
Wherein r is distance of the near field correction source to reference array element, is 150m, and λ is the centre wavelength of calibration source, is 12m, (xk,yk)
(k=1,2 ..., be 25) position coordinates of k-th array element, θ is the DOA that calibration source arrives reference array element, is 0 °, further,
The covariance R for receiving data vector is solved, and Eigenvalues Decomposition is carried out to R, represents as follows,
Wherein ΣsIt is characterized value ξkThe diagonal matrix of composition, ekIt is theoretical according to array signal processing for corresponding feature vector, signal
The subspace that the column vector of subspace and array manifold matrix A is turned into is identical, according to the phase solution difference array element of feature vector
Phase difference, be further represented as, phasek=Arg (ek), then the phase difference of i-th of array element to k-th of array element is,
φk-φi=Arg (ek)-Arg(ei) i=2,3 ..., M；K=1,2 ..., M (8)
Thus the phase difference between different array elements is obtained, for estimating the position coordinates of array element；
Third step is according to the array shape estimation model solution element position coordinate based on single near field sources；
Phase difference between the different array elements solved according to second step obtains the distance between two adjacent array elements difference, represents such as
Under,
△di=△ φi·λ/(2·π) (9)
According to the distance r in the near field correction source of initial calculation to reference array element124 and adjacent array element the distance between to reference array element
Difference iteratively solves out each array element to the distance of reference array element, represents as follows,
r1=150m (10)
ri=ri-1-△φi·λ/(2·π) (11)
Because the acoustical signal of near field correction source transmitting is spherical wave, near field correction source S1Establish polar coordinate system for origin, then i-th
The polar angle of array element27 are expressed as,
Rectangular co-ordinate (the x of i-th of array elementi,yi) be expressed as,
4th step is to derive and analyze in the method for the present invention about the error and CRLB of array element coordinate
It is Φ=[φ that all array elements, which are defined, with respect to the phase vectors that reference array element receives data2,φ3,...,φM], then about Φ
CRLB can by Fisher information matrix J inverse represent,
CRLB (Φ)=J-1 (14)
Wherein ρ (X | Φ) to receive probability density matrixes of the data matrix X about phase vectors Φ, because receiving data matrix X clothes
Multiple Gauss distribution and data sampling point from 0 mean value is relatively independent, so the covariance of Fisher information matrix J and reception data
Matrix R is expressed as,
Wherein N is sampling number, and A (Φ) is array manifold matrix,For the signal power near field correction source,For noise signal
Power, phases of the covariance matrix R about i-th of array elementiThe reciprocal representation of first derivative and R be,
Wherein M be element number of array, ViMatrix is tieed up for (M-1) × (M-1), is 1 in cornerwise position, remaining is that 0, I is institute
There are (M-1) × (M-1) the dimension matrixes that element is 1, Signal to Noise Ratio (SNR) is represented bySo CRLB (Φ) is represented
It is as follows,
Wherein 1 for all elements be 1 the n dimensional vector n of (M-1) × 1, η=(M+1/SNR)/(MNSNR),
The x coordinate vector for defining array element is x=[x2(Φ),x3(Φ),...,xM(Φ)]T, then CRLB (x) can be by CRLB's (Φ)
Vector parameters convert to obtain, and the relationship of the two represents as follows,
So CRLB (x of i-th of array element coordinatei) and CRLB (yi) be expressed as,
According toDerive CRLB (xi,yi) be,
Wherein,
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