CN108195459A - A kind of passive target space spectrum detection method of small-bore pressure hydrophone battle array - Google Patents
A kind of passive target space spectrum detection method of small-bore pressure hydrophone battle array Download PDFInfo
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- CN108195459A CN108195459A CN201711386081.3A CN201711386081A CN108195459A CN 108195459 A CN108195459 A CN 108195459A CN 201711386081 A CN201711386081 A CN 201711386081A CN 108195459 A CN108195459 A CN 108195459A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H3/00—Measuring characteristics of vibrations by using a detector in a fluid
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of passive target space spectrum detection methods of small-bore pressure hydrophone battle array.This method is according to the size and system operating frequency of pressure hydrophone battle array, it calculates " accurate direction vector ", spacescan, which is carried out, using accurate direction vector forms small-bore acoustic pressure battle array output spatial spectrum, by the use of the average value for normalizing spatial spectrum as test statistics, effective detection to weak target is realized.This method can make small-bore acoustic pressure battle array in radius r<Preferable detection performance is still kept during 0.25 λ, can effective extension system bandwidth of operation, application of the expansible small-bore pressure hydrophone battle array in the products such as buoy, subsurface buoy, submarine navigation device, Underwater Navigation and navigation product and fish finder.
Description
Technical field
The present invention relates to a kind of small-bore pressure hydrophone battle array passive target space spectrum detection method, specifically
One kind is smaller than the small-bore acoustic pressure planar array of λ/2 (λ is the corresponding wavelength of system work highest frequency) in diagonal array element
Passive target space spectrum detection method.
Background technology
Differential pressure type vector hydrophone have it is cheap, it is simple in structure, mechanical movement is disturbed insensitive, is easily installed solid
The features such as determining, thus using more in buoy, the systems such as subsurface buoy and ultra-short baseline hydrolocation.Differential pressure type vector hydrophone sheet
It is the compound acoustic pressure hydrophone array of a small-bore in matter, in engineer application, usually requires that the battle array of differential pressure type vector hydrophone
First spacing is sufficiently small, and radius meets the λ of r≤0.1, and wherein λ is the wavelength of signal.And in actual application environment, signal band is wider
When, it is generally difficult to meet the restrictive condition of the λ of r≤0.1.This restrictive condition is unsatisfactory for, the performance of differential pressure type vector hydrophone is then
It can decline rapidly, be considered as the pressure hydrophone battle array of a small-bore at this time.For another angle, above-mentioned condition limit
The working band of differential pressure type vector hydrophone is made.A kind of patent ZL201310185716.9 (single differential vector water of two dimension
The method that device orientation is listened to estimate) by optimizing the direction vector of vector hydrophone, differential pressure type is sweared under the conditions of realizing high s/n ratio
When measuring hydrophone radius r slightly larger than 0.1 λ, target can accurately be still estimated.With the reduction of signal-to-noise ratio and array element spacing
Increase, which obviously cannot correctly estimate the orientation of target.
The detection of weak target signal is to realize the premise of target component estimation, if when can utilize low signal-to-noise ratio randomly
Spatial spectrum infomation detection target can then expand the application range of this small-bore pressure hydrophone battle array, especially move under water
It carries out having important application prospect in target acquisition, positioning and airmanship on platform.
Invention content
The purpose of the present invention is：A kind of simple, practical, steady passive mesh based on small-bore pressure hydrophone battle array is provided
Mark space spectrum detection method.
The technical scheme is that：A kind of passive target space spectrum detection method of small-bore pressure hydrophone battle array, packet
Include following steps：
Step 1：By the reception data p of four channels of small-bore pressure hydrophone battle array of two dimensioni(n) (wherein i=1,2,
3,4 represent array element serial number, and n represents the sampled value serial number of data) complex signal is converted by Hilbert transform
Step 2：To the multiple sound pressure signal of four channelsThen again divided by 2 summation, is asked in pressure hydrophone battle array
The sound pressure signal value that the heart is pointed out
Step 3：Two array element sound pressure signals in same reference axis are subtracted each other, then by its difference phase shift -90°,
Acquire the differential signal that acoustic pressure water listens gust central point
Step 4：By Step 2: the signal of pressure hydrophone battle array center that step 3 is obtained is enumerated together, obtain
The output vector of small-bore pressure hydrophone battle arrayWherein symbol " T " represents square
The transposition of battle array recycles output signal Y (n) to solve covariance matrixN represents that data are adopted
Total sample.
Step 5：According to the configuration of array and the working frequency range of system, the accurate side of small-bore pressure hydrophone battle array is calculated
To vectorWherein λ represents the wavelength of working signal, and r is represented
The half of diagonal array element spacing, θmFor scan angle angle value, m represents scanning angle serial number.
Step 6：Utilize the accurate direction vector U (θ in step 5m) and step 4 in data covariance matrixMeter
Spatial spectrum is calculated, then the normalized value of solution room spectrum, all normalization space spectrum are averaging, obtain space spectral test system
Metering
Wherein, M representation spaces angular samples quantity, N represent data sample number of samples, θmRepresent m-th of spacescan
Angle value.
Step 7：According to the maximum false-alarm probability P of system requirementsfWith environmental noise data covariance matrixAccording to step
Spatial spectrum test statistics formula in rapid six calculates detection threshold value D using Monte Carlo statistical methodth(N,M)。
Step 8：Using gathered data, D (N, M) is calculated in real time, by D (N, M) and Dth(N, M) compares, if D (N, M)<
Dth(N, M), then target exists, otherwise target is not present.
The beneficial effects of the invention are as follows：The present invention provides a kind of steady based on the faint of small-bore pressure hydrophone battle array
Object space composes passive detection technology, according to the size and system operating frequency of pressure hydrophone battle array, calculates " accurate direction arrow
Amount " is carried out spacescan using accurate direction vector and forms spatial spectrum, united by the use of the average value for normalizing spatial spectrum as inspection
Metering, realizes effective detection to weak target.The technology is significant with navigating to underwater acoustic detection, Underwater Navigation.
The method of the present invention is in small-bore pressure hydrophone battle array radius r<In the range of 0.25 λ, preferable dim target detection performance is kept,
Expansible small-bore pressure hydrophone battle array is in the productions such as buoy, subsurface buoy, submarine navigation device, Underwater Navigation and navigation product and fish finder
Application in product.
Description of the drawings
Fig. 1 is the array configuration structure chart of small-bore pressure hydrophone battle array.
Fig. 2 is the signal processing flow figure of small-bore pressure hydrophone battle array passive target detection method proposed by the present invention.
Fig. 3 is that embodiment small aperture pressure hydrophone battle array radius (or diagonal array element spacing) is 0.2 meter, and signal frequency is
During 1kHz, system sampling frequency 8kHz, system bandwidth 200Hz, target is from 45 ° of orientation (incident direction and x-axis in Fig. 1
Positive axis angle is 45 °) when being incident on pressure hydrophone battle array, the small-bore pressure hydrophone battle array detection probability of success becomes with signal-to-noise ratio
The statistical results chart of change.
Fig. 4 is that embodiment small aperture pressure hydrophone battle array radius (or diagonal array element spacing) is 0.2 meter, and signal frequency is
During 1kHz, system sampling frequency 8kHz, for target at 90 ° of orientation, small-bore pressure hydrophone battle array detects the probability of success with letter
It makes an uproar than the statistical results chart of variation.
Specific embodiment
In conjunction with embodiment, attached drawing, the invention will be further described：
The technology of the present invention basis is small-bore two dimension pressure hydrophone battle array, and the structure of pressure hydrophone battle array is as shown in Figure 1.Root
According to the array sizes of pressure hydrophone battle array and the accurate direction vector of system operating band computing array, output space is then calculated
Spectrum, by the use of the average value for normalizing spatial spectrum as test statistics, determines whether that there are targets.
The space spectrum detection method of the present embodiment small aperture pressure hydrophone battle array weak target, includes the following steps：
Step 1：To the channel receiving signal p of small-bore pressure hydrophone battle array1(n)、p2(n)、p3(n) and p4(n) (its
In, n represents the sampled value serial number of data) Hilbert transform is carried out, by the real signal of reception into complex signalWith
Step 2：By four tunnel complex signalsWithSmall-bore pressure hydrophone battle array is obtained
The virtual acoustic pressure of center
Step 3：The multiple sound pressure signal of No. 1 array element and No. 3 array elements is subtracted each other, small-bore pressure hydrophone battle array is obtained in x
Acoustic pressure difference component on axisThe multiple sound pressure signal of No. 2 array elements and No. 4 array elements is subtracted each other, is obtained
Difference component in the pressure hydrophone battle array y-axis of small-bore
Step 4：Acoustic pressure difference component in two reference axis is distinguished into -90 ° of phase shift using phase shifter, is obtainedWith
Step 5：Together with step 2 is enumerated with the signal being obtained in step 4, small-bore pressure hydrophone battle array is obtained
OutputThe defeated of small-bore pressure hydrophone battle array is obtained using n times gathered data
Go out covariance matrix
Step 6：According to the array sizes of small-bore pressure hydrophone battle array and system centre frequency, formula is utilizedThe accurate direction vector of pressure hydrophone battle array output is obtained.
Step 7：According to the covariance matrix being obtained in step 5With the accurate direction vector U being obtained in step 6
(θm), utilize formulaCalculate the output spatial spectrum of pressure hydrophone battle array.
Step 8：To spatial spectrum P (θm) be normalized, it is then averaged, obtains spatial spectrum test statisticsWherein, M representation spaces angular samples quantity, N represent data sample number of samples, θm
Represent m-th of spacescan angle value.
Step 9：According to the maximum false-alarm probability P of system requirementsfWith environmental noise data covariance matrixUtilize illiteracy
Special Caro statistical method calculates detection threshold value Dth(N,M)。
Step 10：Using gathered data, D (N, M) is calculated in real time, by D (N, M) and Dth(N, M) is compared, if D (N,
M)<Dth(N, M), then target exists, otherwise target is not present.
Array structure and signal processing method shown in Fig. 2, give one embodiment with reference to shown in Fig. 1：Small-bore sound
R=0.2 meters of the radius of hydrophone array is pressed, when signal frequency is 1kHz, for target in 45 ° of orientation, Fig. 3, which gives, utilizes present invention side
The statistics knot that method, conventional pressure differential type vector hydrophone are detected using the spatial spectrum that unit direction vector is handled
Fruit.Fig. 4 is detection statistics of the target at 45 ° of orientation as a result, can be seen that this from detection probability with the change curve of signal-to-noise ratio
Inventive method can make the detectable signal-to-noise ratio of small-bore pressure hydrophone battle array reduce by 1 decibel.Pass through the statistical result of embodiment
It can obtain：The method of the present invention can make small-bore pressure hydrophone battle array that can be obtained than conventional pressure differential type when array element spacing is smaller
The better detection performance of vector hydrophone can effectively improve the detection range of small-bore pressure hydrophone battle array；Alternatively, from another
For one angle, the working band and detection performance of differential pressure type vector hydrophone can be effectively extended.
Certainly, the present invention can also have other embodiments, and those skilled in the art can do according to the present invention
Go out corresponding change, but these changes should all belong to the protection domain of appended claims of the invention.
Claims (1)
1. a kind of passive target space spectrum detection method of small-bore pressure hydrophone battle array, includes the following steps：
Step 1：By the reception data p of four channels of small-bore pressure hydrophone battle array of two dimensioni(n) (wherein i=1,2,3,4 tables
Show array element serial number, n represents the sampled value serial number of data) complex signal is converted by Hilbert transform
Step 2：To the multiple sound pressure signal of four channelsThen again divided by 2 summation, asks for pressure hydrophone battle array central point
The sound pressure signal value gone out
Step 3：Two array element sound pressure signals in same reference axis are subtracted each other, then by its -90 ° of difference phase shift, are acquired
The differential signal of pressure hydrophone battle array central point
Step 4：By Step 2: the signal of pressure hydrophone battle array center that step 3 is obtained is enumerated together, aperture is obtained
The output vector of diameter pressure hydrophone battle arrayWherein symbol " T " representing matrix
Transposition recycles output signal Y (n) to solve covariance matrixN represents data sampling point
Sum；
Step 5：According to the configuration of array and the working frequency range of system, the accurate direction arrow of small-bore pressure hydrophone battle array is calculated
AmountWherein λ represents the wavelength of working signal, and r represents diagonal
The half of array element spacing, θmFor scan angle angle value, m represents scanning angle serial number；
Step 6：Utilize the accurate direction vector U (θ in step 5m) and step 4 in data covariance matrixIt calculates empty
Between compose, then solution room spectrum normalized value, to it is all normalization space spectrum be averaging, obtain spatial spectrum test statistics
Wherein, M representation spaces angular samples quantity, N represent data sample number of samples, θmRepresent m-th of spacescan angle
Value；
Step 7：According to the maximum false-alarm probability P of system requirementsfWith environmental noise data covariance matrixAccording to step 6
In spatial spectrum test statistics formula, detection threshold value D is calculated using Monte Carlo statistical methodth(N,M)；
Step 8：Using gathered data, D (N, M) is calculated in real time, by D (N, M) and Dth(N, M) compares, if D (N, M)<Dth(N,
M), then target exists, otherwise target is not present.
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Cited By (4)
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| CN110244261A (en) * | 2019-06-28 | 2019-09-17 | 中国科学院声学研究所 | A kind of ultra-short baseline direction estimation method, system, equipment and the storage medium of any formation |
| CN111024207A (en) * | 2019-11-26 | 2020-04-17 | 中国船舶重工集团有限公司第七一0研究所 | Automatic detection and judgment method for vector hydrophone line spectrum |
| CN113740804A (en) * | 2021-08-27 | 2021-12-03 | 青岛理工大学 | Hydrophone array direction finding system based on DSP and DOA estimation method thereof |
| RU2811513C1 (en) * | 2023-05-03 | 2024-01-12 | Михаил Юрьевич Глущенко | Direction finder of low-frequency noise signals for mobile systems for detecting low-noise underwater objects |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113740804A (en) * | 2021-08-27 | 2021-12-03 | 青岛理工大学 | Hydrophone array direction finding system based on DSP and DOA estimation method thereof |
| RU2811513C1 (en) * | 2023-05-03 | 2024-01-12 | Михаил Юрьевич Глущенко | Direction finder of low-frequency noise signals for mobile systems for detecting low-noise underwater objects |
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Application publication date: 20180622 |