CN108845290B - Method for resisting phase ambiguity of ultra-short baseline array - Google Patents

Method for resisting phase ambiguity of ultra-short baseline array Download PDF

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CN108845290B
CN108845290B CN201810261916.0A CN201810261916A CN108845290B CN 108845290 B CN108845290 B CN 108845290B CN 201810261916 A CN201810261916 A CN 201810261916A CN 108845290 B CN108845290 B CN 108845290B
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宫榕衫
邹男
张毅锋
付进
臧传斌
王晋晋
王逸林
梁国龙
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Harbin Engineering University
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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
    • G01S5/20—Position of source determined by a plurality of spaced direction-finders
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract

The invention provides a method for resisting phase ambiguity of an ultra-short baseline array. Obtaining the maximum fuzzy cycle number of the phase between any two array elements in the same direction according to the array type of the ultra-short base line array, and determining the value range of the fuzzy cycle number of the phase between the two array elements; calculating all possible target direction angles of the array elements according to the phase difference measured by the two array elements and the maximum fuzzy cycle number; calculating a sector width coefficient of the target direction angle, and setting the sector width of the target direction angle; counting the occurrence times of all target direction angles on the histogram according to all possible target direction angles and the width of the sector, wherein the angle with the largest occurrence time is the estimated target direction angle; and calculating the estimation value of the fuzzy cycle number of each group of array elements according to the estimated target direction angle. The invention can effectively realize the anti-phase ambiguity and break through the limitation of the array size on the positioning performance of the array.

Description

Method for resisting phase ambiguity of ultra-short baseline array
Technical Field
The invention relates to an underwater acoustic signal processing method.
Background
The ultra-short base line array is widely applied to positioning underwater targets due to the characteristics of small size, easy installation and the like. The traditional ultra-short base line array usually adopts a triangular array with the size smaller than the half wavelength of a transmitting signal, and because the aperture of the array is small, the remote positioning precision of the traditional ultra-short base line array is often not high, the problem can be solved by improving the array type or increasing the aperture of the array, but the means can bring the problem of phase ambiguity. Therefore, the method for improving the positioning accuracy of the ultra-short baseline array and simultaneously giving consideration to the anti-phase ambiguity is very important for the ultra-short baseline positioning system.
The scholars at home and abroad adopt a plurality of methods to solve the problem, and representative researches mainly comprise: well known ([1] well known, heuman, grand march. measurement of ultra-short baseline matrix element phase shift difference [ J ] applied acoustics, 2006(04): 229-; zhengcuie (2) Zhengcuie, Liqi, Sunpang, Zhangianlun, an improved method of an ultra-short baseline positioning system array type [ J ]. Chinese university of oceans press (Nature science version), 2009,39(03): 505) and 508 ], changes the form of a transmitting signal, utilizes the transmitting signal of double pulses, solves the problem of phase ambiguity by using an orthogonal 4-element array positioning method, and improves the positioning accuracy while removing redundant array elements; zhengming ([3] Zhengming, old and new, grandchild yoga, Yuhua.A quaternary ultrashort baseline array realizes high-precision positioning [ J ]. applied acoustics, 2013,32(01):15-22.) through optimizing the array form to form a quaternary array with unequal intervals, the number of array elements is reduced, simultaneously, the form of transmitting signals is simplified, and the positioning precision equivalent to the 8-element array form in the document [1] is ensured; however, limited to physical processes, for signals with higher frequencies, the spacing between array elements is often difficult to satisfy the condition of less than half a wavelength, and the above method is not suitable.
Disclosure of Invention
The invention aims to provide a method for resisting phase ambiguity of an ultra-short baseline array, which can solve the problem of phase ambiguity generated when the signal frequency is high and the condition that the aperture of the array is smaller than a half wavelength is difficult to meet.
The purpose of the invention is realized as follows:
(1) obtaining the maximum fuzzy cycle number of the phase between any two array elements in the same direction according to the array type of the ultra-short base line array, and determining the value range of the fuzzy cycle number of the phase between the two array elements;
(2) calculating all possible target direction angles of the array elements according to the phase difference measured by the two array elements and the maximum fuzzy cycle number;
(3) calculating a sector width coefficient of the target direction angle, and setting the sector width of the target direction angle;
(4) counting the occurrence times of all target direction angles on the histogram according to all possible target direction angles and the width of the sector, wherein the angle with the largest occurrence time is the estimated target direction angle;
(5) and calculating the estimation value of the fuzzy cycle number of each group of array elements according to the estimated target direction angle.
The invention provides a method for resisting phase ambiguity of an ultra-short baseline array, which aims to solve the problem of phase ambiguity generated when the signal frequency is high and the condition that the aperture of the array is smaller than half wavelength is difficult to meet.
The invention has the beneficial effects that: (1) under the condition that the frequency of a signal received by the array is high and the aperture of the array is difficult to meet the requirement of being smaller than a half wavelength, the anti-phase ambiguity can be effectively realized, and the limitation of the array size on the positioning performance of the array is broken through; (2) compared with the traditional triangular array, the method can improve the positioning accuracy, fully utilizes redundant array element information, and has the accuracy of resisting phase ambiguity of approximately 100% in the concerned angle range, namely theta epsilon [ -60 DEG and 60 DEG ].
Drawings
FIG. 1 is a schematic diagram of a corresponding array type of the method;
FIG. 2 is a statistical histogram of the number of occurrences for each angle when the target azimuth angle is-50 degrees;
FIG. 3 shows the anti-phase-ambiguity accuracy for different target direction angles.
Detailed Description
The invention is described in more detail below by way of example.
The basic parameters used in the method are first explained as follows: the array type of the ultra-short base line array adopted in the method is an 8-element cross array,the schematic diagram of the array is shown in figure 1. The specific value of the array element spacing is d 14 ＝0.21m，d 12 ＝0.019m， d 23 0.026 m. The target signal form is a single-frequency CW signal, the signal frequency f is 75kHz, the sound propagation speed in the ocean is c 1500m/s, and the phase difference measurement error is 6 degrees at most. After the basic parameters are determined, the method comprises the following steps:
(1) according to the array type of the ultra-short base line array, the maximum fuzzy cycle number of the phase between any two array elements in the same direction is calculated, and the value range of the fuzzy cycle number of the phase between the two array elements is determined.
Let the distance between array element i and array element j be d ij Then, the maximum ambiguity period N of the phases of the array element i and the array element j is:
Figure RE-BDA0001610441040000021
the maximum number of blur cycles is the maximum of all possible numbers of blur cycles between two array elements, so that all numbers of blur cycles cannot exceed the maximum number of blur cycles when calculating the azimuth.
Let the distance between array element i and array element j be d ij The number of all possible fuzzy cycles between two array elements is n ij Then n ij The value ranges are as follows:
n ij ∈[-N,N] (2)
according to the known array pattern and parameters, there are 4 array elements in the same direction and therefore 6 array element combinations, corresponding to 6 maximum number of ambiguity periods. Distance d ij The relationship with the maximum number of cycles N and the value range is shown in the following table:
Figure RE-BDA0001610441040000031
(2) and calculating all possible target direction angles of the array elements according to the phase difference measured by the two array elements and the maximum fuzzy cycle number.
The calculation formula of the target direction angle is as follows:
Figure RE-BDA0001610441040000032
wherein the content of the first and second substances,
Figure RE-BDA0001610441040000033
representing the measured phase difference between array element i and array element j, n ij Representing all possible number of fuzzy cycles between array element i and array element j, d ij Is the distance between array element i and array element j, λ is the wavelength, θ ij All possible target azimuth angles solved between array element i and array element j.
And (3) sequentially substituting all possible values of the fuzzy cycle number into the formula (3) for calculation according to the measured phase difference and the known array element spacing so as to obtain all possible target direction angles. For example, the phase difference measured between the array elements 12 is
Figure RE-BDA0001610441040000034
Since the maximum fuzzy cycle number between array elements is 1, n ij Can be represented by-1, 0, 1, will
Figure RE-BDA0001610441040000035
And n ij Substituting equation (3) can obtain all possible direction angles between array element 1 and array element 2. Repeating this calculation for all array element combinations results in all possible target azimuth angles.
(3) And calculating the fan width coefficient of the target direction angle, and setting the fan width of the target direction angle.
The size of the fan width of the target direction angle is determined by the fan width coefficient and the phase difference measurement tolerance. The sector width coefficient is 2 times of the deviation value of the target direction angle calculation formula to the phase difference, and the measurement tolerance of the phase difference is mainly related to the maximum value of the measurement error. The target azimuth fan width is equal to the product of the fan width factor and the phase difference measurement tolerance. For example, for array element 1 and array element 2, the phase difference measurement tolerance is 6 °. And if the phase difference measured among the array elements is-50 degrees, the calculated partial derivative is 0.1712, the sector width coefficient is 0.3424, and the target direction angle sector width is 2.0544 degrees.
(4) And counting the occurrence times of all the target direction angles on the histogram according to all the possible target direction angles and the width of the sector, wherein the angle with the maximum occurrence times is the estimated target direction angle.
And counting the occurrence times of different angles according to all the calculated possible target direction angles and the calculated fan width. The statistical method is that 1 is added to the recorded occurrence frequency every time any angle occurs for 1 time, the statistical result of the total occurrence frequency of all angles is recorded on a histogram, and the angle with the largest occurrence frequency is the estimated value of the target direction angle.
The-50 ° was chosen as the known target azimuth angle for demonstration and the target azimuth angle was estimated as shown in fig. 2. Fig. 2 shows the number of occurrences of each angle using the histogram, and it can be seen that the angle with the largest number of occurrences is-50 °, so-50 ° is an estimate of the target azimuth.
(5) And calculating the estimation value of the fuzzy cycle number of each group of array elements according to the estimated target direction angle.
Let the estimated target direction angle be
Figure RE-BDA0001610441040000041
Target direction angle to be estimated
Figure RE-BDA0001610441040000042
The estimated number of blur cycles is obtained by substituting the known quantity into equation (4) for obtaining the number of cycle blurs. The formula for finding the number of blur periods is:
Figure RE-BDA0001610441040000043
wherein the content of the first and second substances,
Figure RE-BDA0001610441040000044
representing the measured phase difference between array element i and array element j,
Figure RE-BDA0001610441040000045
an estimate representing all possible numbers of fuzzy cycles between array elements i and j, d ij Is the distance between the array element i and the array element j, lambda is the wavelength,
Figure RE-BDA0001610441040000046
is the estimated value of the target azimuth angle solved between the array element i and the array element j. Calculated by the formula (4)
Figure RE-BDA0001610441040000047
I.e. the estimate of the number of blur cycles found.
To verify the effectiveness of the above method, the anti-phase-ambiguity performance of different target direction angles is analyzed below, and the results are shown in fig. 3. It can be seen that the lowest accuracy of the whole angle domain is higher than 98.8%, and when the direction angle theta is larger than-60 degrees and larger than 60 degrees, the detection probability reaches 100%. Therefore, the method can accurately complete the task of resisting the phase ambiguity.
Finally, it should be noted that the above examples are only intended to describe the technical solutions of the present invention and not to limit the technical methods, the present invention can be extended in application to other modifications, variations, applications and embodiments, and therefore all such modifications, variations, applications, embodiments are considered to be within the spirit and teaching scope of the present invention.

Claims (1)

1. An ultrashort baseline array phase ambiguity resisting method is characterized in that:
(1) obtaining the maximum fuzzy cycle number of the phase between any two array elements in the same direction according to the array type of the ultra-short base line array, and determining the value range of the fuzzy cycle number of the phase between the two array elements;
the distance between the array element i and the array element j is d ij Then, the maximum ambiguity period N of the phases of the array element i and the array element j is:
Figure RE-FDA0003636233950000011
all possible ambiguities between two array elementsThe number of cycles is n ij Then n ij The value ranges are as follows:
n ij ∈[-N,N]
(2) calculating all possible target direction angles of the array elements according to the phase difference measured by the two array elements and the maximum fuzzy cycle number;
the calculation formula of the target direction angle is as follows:
Figure RE-FDA0003636233950000012
wherein the content of the first and second substances,
Figure RE-FDA0003636233950000013
representing the measured phase difference between array element i and array element j, n ij Representing all possible number of fuzzy cycles between array element i and array element j, d ij Is the distance between array element i and array element j, λ is the wavelength, θ ij Solving all possible target direction angles between the array elements i and j;
according to the measured phase difference and the known array element spacing, all possible values of the fuzzy cycle number are sequentially substituted into the formula for calculation to obtain all possible target direction angles; repeating the calculation process for all the array element combinations to obtain all possible target direction angles;
(3) calculating a sector width coefficient of the target direction angle, and setting the sector width of the target direction angle;
the size of the fan surface width of the target direction angle is determined by the fan surface width coefficient and the phase difference measurement tolerance; the sector width coefficient is 2 times of the deviation derivative value of the target direction angle calculation formula to the phase difference, and the phase difference measurement tolerance is mainly related to the maximum value of the measurement error; the target direction angle sector width is equal to the product of the sector width coefficient and the phase difference measurement tolerance;
(4) counting the occurrence times of all target direction angles on the histogram according to all possible target direction angles and the width of the sector, wherein the angle with the largest occurrence time is the estimated target direction angle;
(5) calculating the estimation value of the fuzzy cycle number of each group of array elements according to the estimated target direction angle;
let the estimated target direction angle be
Figure RE-FDA0003636233950000014
Target direction angle to be estimated
Figure RE-FDA0003636233950000015
Substituting the known quantity into a formula for calculating the cycle fuzzy number to obtain the estimated fuzzy cycle number as follows:
Figure DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure RE-FDA0003636233950000021
representing the measured phase difference between array element i and array element j,
Figure RE-FDA0003636233950000022
an estimate representing all possible numbers of fuzzy cycles between array elements i and j, d ij Is the distance between the array element i and the array element j, lambda is the wavelength,
Figure RE-FDA0003636233950000023
the estimated value of the target azimuth angle solved between the array elements i and j is obtained by the formula
Figure RE-FDA0003636233950000024
I.e. the estimate of the number of blur cycles found.
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