CN108318876A - A method of estimating submarine target depth and distance using single hydrophone - Google Patents
A method of estimating submarine target depth and distance using single hydrophone Download PDFInfo
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- CN108318876A CN108318876A CN201711452068.3A CN201711452068A CN108318876A CN 108318876 A CN108318876 A CN 108318876A CN 201711452068 A CN201711452068 A CN 201711452068A CN 108318876 A CN108318876 A CN 108318876A
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
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Abstract
The invention discloses a kind of methods for estimating submarine target depth and distance using single hydrophone, belong to the technical field of sea mine fuze and sonar, the signal that this method is sent out according to the collected submarine target of single hydrophone obtains the water-bed multidiameter delay t of signal1With water surface multidiameter delay t2Afterwards, target depth and target level distance are calculated；Target depthTarget level distanceIn formula, H is Hai Shen；Z is the depth of single hydrophone；C is the velocity of sound；Due to water-bed multidiameter delay t1With water surface multidiameter delay t2It is that the target depth and target level distance according to time change therefore can be obtained according to time change；After only water-bed multidiameter delay and the water surface multidiameter delay of signal is calculated by single hydrophone in this method, in conjunction with extra large depth and hydrophone depth, you can obtain target depth and range information.
Description
Technical field
The invention belongs to the technical fields of sea mine fuze and sonar, and in particular to a kind of to be estimated under water using single hydrophone
The method of target depth and distance.
Background technology
The depth of submarine target has important application with the distance estimations under water identification, positioning of Submarine Target.It answers at present
Technology is three sub-array method, and prodigious array aperture is needed to position target.In order to fixed to submarine target on chain-wales
Position, people developed target motion analysis technology (TMA), Matched Field location technology and when anti-mirror location technology.Beaing-only TMA
Method needs the motor-driven of platform, and orientation/frequency TMA methods are often because Target Wireless spectrum or line spectral frequencies are too low without apparent Doppler
And it is restricted in the application.Matched Field and Shi Fanjing can realize several kilometers of positioning to tens kilometers of targets, but they all according to
Lai Yu still has any problem in engineer application to the accurate modeling of propagation channel, and operand is very big, is not suitable on submarine mine platform
Using.
Invention content
In view of this, estimating submarine target depth and distance using single hydrophone the object of the present invention is to provide a kind of
Method, after water-bed multidiameter delay and the water surface multidiameter delay of signal only is calculated by single hydrophone, in conjunction with extra large depth and water
Listen device depth, you can obtain target depth and range information.
The present invention is achieved through the following technical solutions：
A method of estimating that submarine target depth and distance, this method are as follows using single hydrophone：
According to the signal that the collected submarine target of single hydrophone is sent out, the water-bed multidiameter delay t of signal is obtained1And water
Face multidiameter delay t2Afterwards, target depth and target level distance are calculated；
In formula, H is Hai Shen；Z is the depth of single hydrophone；C is the velocity of sound；Due to water-bed multidiameter delay t1With water surface multipath
Time delay t2It is that the target depth and target level distance according to time change therefore can be obtained according to time change.
Further, the water-bed multidiameter delay t is obtained1With water surface multidiameter delay t2Method it is as follows：
The first step, the signal sent out to the collected submarine target of single hydrophone using filter carry out band successively by frame
After pass filter processing, AD conversion, Fast Fourier Transform (FFT), power spectral envelope and inversefouriertransform, the frame number with signal is obtained
The sequence u (n) of same number, n=0 ..., N-1, N, N are the length of a frame data；
Second step, when the data of the corresponding u (n) of first three frame signal search peak value, and three on the section [m, N/2-1]
The corresponding three water-bed multidiameter delays of peak value of frame signal and three water surface multidiameter delays are sequentially increased respectively, three water-bed multipaths
The difference of time delay and the difference of three water surface multidiameter delays are respectively less than the thresholding determined by target most probable velocity and frame length
When value, then judge that multidiameter delay is caused by target, into locking mode；Wherein, m ﹥ 10；
In locking mode, if the water-bed multidiameter delay of third frame signal is τb1, water surface multidiameter delay is τb2, then exist
[τb1-τl, τb1+τu] maximum of the corresponding u (n) of the 4th frame signal of search on section, the corresponding value of the maximum is water-bed more
Diameter time delay, in [τb2-τl, τb2+τu] minimum of the corresponding u (n) of the 4th frame signal of search, the corresponding value of the minimum on section
For water surface multidiameter delay；Wherein, if E ﹥ Eb, then τu﹥ τl, τlMore than 0, τuIt is determined less than target most probable velocity and frame length
Threshold value, E and EbIt is the energy product score value of the 4th frame and third frame data respectively；If E ﹤ Eb, then τu﹤ τl, τuMore than 0, τlIt is less than
The threshold value that target most probable velocity is determined with frame length；
Assuming that the above-mentioned maximum searched is u (n1), then the water-bed multidiameter delay of the 4th frame signal is t1=n1/fs, false
If the minimum searched is u (n2), then the water surface multidiameter delay of the 4th frame signal is t2=n2/fs；Wherein, fsIt is A/D conversions
When data sampling frequency；
And so on, the water-bed multidiameter delay t of the 5th frame, the 6th frame, the 7th frame ... can be obtained1With water surface multidiameter delay
t2。
Further, the method for calculating the power spectral envelope is as follows：
If the sequence after Fast Fourier Transform (FFT) is y (n), it is z (n) to calculate the sequence obtained after power spectral envelope；
Z (n)=| y (n) |2α；Wherein, 0 ＜ α ＜ 1.
Further, the upper limiting frequency of the bandpass filtering is 2kHz.
Advantageous effect：(1) present invention is directed in Acoustic transmission, and sound wave can be by the multipath of the upper and lower interface of ocean
The case where reflection, obtains target depth and range information by the computational methods of multidiameter delay with single hydrophone；Pass through depth
Recognizable object is underwater submarine or surface vessel, can be used for judging whether target enters submarine mine strike half by distance
Diameter.
(2) present invention bandpass filtering and Fast Fourier Transform (FFT) are carried out successively to hydrophone received signal after, to itself plus
Power power spectrum does the sequential extraction procedures multidiameter delay that inversefouriertransform obtains, and then obtains water-bed and water surface multipath reflection time delay；
It, can be in the hope of submarine target depth and distance according to hydrophone depth and Hai Shen；Only realized to submarine target with single hydrophone
Depth and distance estimations, compared with conventional method, without huge basic matrix and complicated software and hardware, system cost is low, is suitable for
It is applied on submarine mine.
Description of the drawings
Fig. 1 is that the inversefouriertransform of single hydrophone receipt signal frequency spectrum in embodiment changes over time figure；
Fig. 2 is the time history diagram of the lake surface and lakebed multidiameter delay that are extracted in embodiment；
Fig. 3 is single estimation of the hydrophone to submarine target depth in embodiment；
Fig. 4 is single estimation of the hydrophone to submarine target horizontal distance in embodiment.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
A kind of method for estimating submarine target depth and distance using single hydrophone is present embodiments provided, this method
Steps are as follows：
The first step, the signal that the single collected submarine target of hydrophone is sent out；
Second step carries out bandpass filtering treatment to the signal in the first step using filter by frame, and to each frame signal
After being AD converted, corresponding sequence x (n), n=0 ..., N-1 are obtained, N, N are the length of a frame data, of sequence x (n)
Number is identical as the frame number of signal；N is even number in the present embodiment (in order to calculation processing)；And the upper limiting frequency of bandpass filtering is
2kHz, so as to carry out the estimation of depth and distance to target farther out；
Third walks, and does Fast Fourier Transform (FFT) to sequence x (n), obtains sequences y (n)；
4th step, the power spectral envelope of sequence of calculation y (n) obtain sequence z (n), and z (n)=| y (n) |2α；Wherein, 0 ＜ α
＜ 1；
As α=1, z (n) composes for ordinary power, for the letter for having stronger narrow-band component being usually present in Underwater Acoustic Environment
Number, multidiameter delay peak value can not be extracted；
As α ＜ 1, there is inhibiting effect to narrow-band component, so that multidiameter delay peak value is become apparent, improve multidiameter delay
Estimated accuracy, and then improve the estimation performance of depth and distance；
5th step does inversefouriertransform to sequence z (n), obtains sequence u (n), the number of sequence u (n) and the frame of signal
Number is identical；
6th step is symmetrical since sequence u (n) obtains the first half with later half, and valid data are previous half datas, because
This, extracts posivtive spike and the negative peak of multidiameter delay (compared with the data fluctuating near n=0 in the data area of n=0~N/2-1
Greatly, ghost peak is easy tod produce, data origination generally not since 0, from data fluctuation ratio smaller part, i.e. starts at n=m)；
In the case where not interfering with only signal, multidiameter delay extraction is to sequence u (n) (n=m ..., N/2-1, m ﹥
10) maximizing and minimum；But since Underwater Acoustic Environment background is complicated, at sequence u (n) (n=m ..., N/2-1, m ﹥ 10)
In in addition to signal there is also various interference, interference peak can be more than signal peak sometimes；Therefore, using signal peak when successive
Between on continuity and the randomness and target of interference cross forward of the beam multidiameter delay and increase, cross abaft the beam multidiameter delay and reduce
The characteristics of, extract multidiameter delay using following steps：
Step 1, when the data of the corresponding u (n) of first three frame signal all search peak value on the above-mentioned section [m, N/2-1],
And three the corresponding time delay of peak value of frame signal (time delay includes that water-bed multidiameter delay and water surface multidiameter delay, three bottoms are more
Diameter time delay and three water surface multidiameter delays compare respectively) it is sequentially increased, the difference of three time delays is less than by target maximum possible speed
Degree with frame length determine threshold value (given value being empirically derived) when, then judge multidiameter delay be caused by target,
Into locking mode；
Step 2, in locking mode, according to the time delay of third frame signal known to step 1, if the bottom of third frame signal is more
Diameter time delay is τb1, water surface multidiameter delay is τb2, the region of search range of the 4th frame signal is determined according to following criterion：
If E ﹥ Eb(E and EbIt is the energy product score value of the 4th frame and third frame data respectively, it can be according to existing formula to calculating
The known quantity learnt), then in [τb1-τl,τb1+τu] maximum of the corresponding u (n) of the 4th frame signal of search on section, this is greatly
It is water-bed multidiameter delay to be worth corresponding value, in [τb2-τl,τb2+τu] the corresponding u (n) of the 4th frame signal of search is minimum on section
Value, the corresponding value of the minimum is water surface multipath reflection time delay, wherein τu﹥ τl, τlValue close to 0 and be more than 0, τuIt is less than
The threshold value that target most probable velocity is determined with frame length；
If E ﹤ Eb, then in [τb1-τl,τb1+τu] maximum of the corresponding u (n) of the 4th frame signal of search on section, this is greatly
It is water-bed multidiameter delay to be worth corresponding value, in [τb2-τl,τb2+τu] the corresponding u (n) of the 4th frame signal of search is minimum on section
Value, the corresponding value of the minimum is water surface multipath reflection time delay, wherein τu﹤ τl, τuValue close to 0 and be more than 0, τlIt is less than
The threshold value that target most probable velocity is determined with frame length；
Since the moment is changing hydrophone at a distance from submarine target, also the moment is becoming the signal magnitude that hydrophone receives
Change, therefore the energy product score value of front and back two frame data will not be identical；
Assuming that the above-mentioned maximum searched is u (n1), then the water-bed multidiameter delay of the 4th frame signal is t1=n1/fs, search
The minimum that rope arrives is u (n2), then the water surface multidiameter delay of the 4th frame signal is t2=n2/fs；Wherein, fsWhen being A/D conversions
Data sampling frequency；
Step 3, according to the water-bed multidiameter delay and water surface multidiameter delay of the 4th frame signal, step 2 is repeated, can obtain the 5th
The water-bed multidiameter delay and water surface multidiameter delay of frame signal, and so on, the water-bed multipath of the 6th frame, the 7th frame ... can be obtained
Time delay t1With water surface multidiameter delay t2；
7th step calculates target depth and target level distance；
In formula, H is Hai Shen (i.e. the distance on sea to seabed), can be obtained by measuring；Z is the depth of single hydrophone
(distance of i.e. single hydrophone to sea), is obtained by the depth transducer measurement on hydrophone carrying platform；C is the velocity of sound,
It is obtained by sound velocimeter measurement, 1500m/s is taken under default situations；Due to water-bed multidiameter delay t1With water surface multidiameter delay t2It is root
According to time change, therefore the target depth and target level distance according to time change can be obtained.
The present embodiment is verified；Test Larger water depths H=100m, single hydrophone depth z=50m；Target is hair
Energy converter is penetrated, and transmitting transducer edge emitting signal side moves vertically, depth rises to 20m from 45m；Hair is measured by GPS
The horizontal distance penetrated between energy converter and single hydrophone is 350m；
Method through this embodiment calculates target depth and target level distance；Fig. 1 is that single hydrophone receives signal
The inversefouriertransform of frequency spectrum changes over time figure, and Fig. 2 is the time history diagram of the lake surface and lakebed multidiameter delay of extraction, is substituted into
Formula in 6th step, obtains target depth and target level distance is as shown in Figure 3 and Figure 4 respectively, is kissed substantially with actual conditions
It closes.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (4)
1. a kind of method for estimating submarine target depth and distance using single hydrophone, which is characterized in that this method is as follows：
According to the signal that the collected submarine target of single hydrophone is sent out, the water-bed multidiameter delay t of signal is obtained1It is more with the water surface
Diameter time delay t2Afterwards, target depth and target level distance are calculated；
Target depth
Target level distance
In formula, H is Hai Shen；Z is the depth of single hydrophone；C is the velocity of sound；Due to water-bed multidiameter delay t1With water surface multidiameter delay
t2It is that the target depth and target level distance according to time change therefore can be obtained according to time change.
2. a kind of method for estimating submarine target depth and distance using single hydrophone as described in claim 1, feature
It is, obtains the water-bed multidiameter delay t1With water surface multidiameter delay t2Method it is as follows：
The first step, the signal sent out to the collected submarine target of single hydrophone using filter carry out band logical filter successively by frame
After wave processing, AD conversion, Fast Fourier Transform (FFT), power spectral envelope and inversefouriertransform, obtain identical as the frame number of signal
The sequence u (n) of number, n=0 ..., N-1, N, N are the length of a frame data；
Second step, when the data of the corresponding u (n) of first three frame signal search peak value, and three frames letter on the section [m, N/2-1]
Number the corresponding three water-bed multidiameter delays of peak value and three water surface multidiameter delays be sequentially increased respectively, three water-bed multidiameter delays
Difference and the difference of three water surface multidiameter delays when being respectively less than the threshold value determined by target most probable velocity and frame length,
Then judge that multidiameter delay is caused by target, into locking mode；Wherein, m ﹥ 10；
In locking mode, if the water-bed multidiameter delay of third frame signal is τb1, water surface multidiameter delay is τb2, then in [τb1-τl,
τb1+τu] maximum of the corresponding u (n) of the 4th frame signal of search on section, the corresponding value of the maximum is water-bed multidiameter delay,
In [τb2-τl, τb2+τu] minimum of the corresponding u (n) of the 4th frame signal of search on section, the corresponding value of the minimum is the water surface
Multidiameter delay；Wherein, if E ﹥ Eb, then τu﹥ τl, τlMore than 0, τuThe thresholding determined less than target most probable velocity and frame length
Value, E and EbIt is the energy product score value of the 4th frame and third frame data respectively；If E ﹤ Eb, then τu﹤ τl, τuMore than 0, τlLess than target
The threshold value that most probable velocity is determined with frame length；
Assuming that the above-mentioned maximum searched is u (n1), then the water-bed multidiameter delay of the 4th frame signal is t1=n1/fs, it is assumed that it searches
The minimum that rope arrives is u (n2), then the water surface multidiameter delay of the 4th frame signal is t2=n2/fs；Wherein, fsWhen being A/D conversions
Data sampling frequency；
And so on, the water-bed multidiameter delay t of the 5th frame, the 6th frame, the 7th frame ... can be obtained1With water surface multidiameter delay t2。
3. a kind of method for estimating submarine target depth and distance using single hydrophone as claimed in claim 2, feature
It is, the method for calculating the power spectral envelope is as follows：
If the sequence after Fast Fourier Transform (FFT) is y (n), it is z (n) to calculate the sequence obtained after power spectral envelope；
Z (n)=| y (n) |2α；Wherein, 0 ＜ α ＜ 1.
4. a kind of method for estimating submarine target depth and distance using single hydrophone as described in claim 1, feature
It is, the upper limiting frequency of the bandpass filtering is 2kHz.
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Cited By (5)
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| CN109061654A (en) * | 2018-08-02 | 2018-12-21 | 西北工业大学 | Single ring array active 3-D positioning method under a kind of deep-marine-environment |
| CN109444864A (en) * | 2018-12-21 | 2019-03-08 | 西北工业大学 | A kind of faint multiple target depth in deep-sea accumulates estimation method when long |
| CN112816940A (en) * | 2020-12-23 | 2021-05-18 | 中国船舶重工集团有限公司第七一0研究所 | Target distance estimation method and device based on sound pressure and particle vibration velocity |
| CN112816964A (en) * | 2020-12-23 | 2021-05-18 | 中国船舶重工集团有限公司第七一0研究所 | Mine optical fuze field calibration device and method |
| CN115166752A (en) * | 2021-04-06 | 2022-10-11 | 中国科学院声学研究所 | Side-scan sonar-based method for estimating buried depth of underwater buried object |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112816940B (en) * | 2020-12-23 | 2023-06-06 | 中国船舶重工集团有限公司第七一0研究所 | Target distance estimation method and device based on sound pressure and particle vibration velocity |
| CN112816964B (en) * | 2020-12-23 | 2024-04-05 | 中国船舶重工集团有限公司第七一0研究所 | On-site calibration device and method for mine light fuze |
| CN115166752A (en) * | 2021-04-06 | 2022-10-11 | 中国科学院声学研究所 | Side-scan sonar-based method for estimating buried depth of underwater buried object |
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