CN108880607A - A kind of the underwater sound communication sychronizing signal detecting method and system of high reliability - Google Patents
A kind of the underwater sound communication sychronizing signal detecting method and system of high reliability Download PDFInfo
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- CN108880607A CN108880607A CN201810617122.3A CN201810617122A CN108880607A CN 108880607 A CN108880607 A CN 108880607A CN 201810617122 A CN201810617122 A CN 201810617122A CN 108880607 A CN108880607 A CN 108880607A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/707—Spread spectrum techniques using direct sequence modulation
- H04B1/7073—Synchronisation aspects
- H04B1/7075—Synchronisation aspects with code phase acquisition
- H04B1/70751—Synchronisation aspects with code phase acquisition using partial detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/707—Spread spectrum techniques using direct sequence modulation
- H04B1/7097—Interference-related aspects
- H04B1/7103—Interference-related aspects the interference being multiple access interference
- H04B1/7105—Joint detection techniques, e.g. linear detectors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
Abstract
The invention discloses the underwater sound communication sychronizing signal detecting methods and system of a kind of high reliability, estimate first ambient noise, according to the detection threshold of setting, determine detection threshold value；Then copy coherent detection is carried out to reception signal, judges to receive whether the amplitude of signal is more than detection threshold value；If not exceeded, then abandoning the reception signal；If being more than, Fourier Transform of Fractional Order domain search is carried out to the copy of the reception signal, estimates its chirp rate, according to the error of chirp rate and true value, judges whether the reception signal of detection is synchronization signal.The characteristics of present invention utilizes the time-frequency combination analytical characteristics of Fourier Transform of Fractional Order, carries out secondary detection to false-alarm signal, reduces influence of the false-alarm signal to underwater sound communication system, has realization simply, high reliablity.
Description
Technical field
The present invention relates to the underwater sound communication sychronizing signal detecting methods and system of a kind of high reliability.
Background technique
With marine resources development and the continuous development that utilizes, nobody underwater latent device such as autonomous underwater robot (AUV),
Marine resources development utilize etc. fields using more and more extensive.The control of AUV platform may be implemented using underwater sound communication system
It is the important leverage that AUV carries out underwater operation with the transmission of data.Due to the particularity and marine environment of AUV task mission
Complex characteristics, high requirement is proposed to the reliability of underwater sound communication system, Synchronous Detection is AUV underwater sound communication system
Important key technology.
Currently, underwater sound communication system carries out same usually using external synchronization method due to the time-varying and space-variant in azimuth of underwater acoustic channel
Step is detected in receiving end using copy correlator using the linear FM signal with good autocorrelation as synchronization signal
Synchronization signal.However, being produced by ambient sea noise, underwater and surface platform itself mechanical oscillation, motion state variation etc.
Under the conditions of raw nonstationary noise, cause copy correlation detector false-alarm so that demodulator according to mistake information position into
Row demodulation, generates higher frame loss rate, or even make interrupted communication link, influences the operation safety of the underwater platforms such as AUV.
Underwater acoustic communication equipment generallys use the synchronization detecting method that linear FM signal adds copy correlator, and transmitting terminal is being sent out
The linear FM signal that one section of known parameters is first sent before data is sent, receiving end is using copy correlator to linear FM signal
It is detected, determines the correct time position of underwater sound communication data.Its major defect is that reliability is poor, since marine environment is made an uproar
The influence of the factors such as the mechanical oscillation of the underwater platforms such as sound, AUV, background noise levels big rise and fall, impact noise etc. cause
Copy correlator false-alarm generates higher frame loss rate, or even make to lead to so that demodulator is demodulated according to the information position of mistake
Believe link down, influences the operation safety of the underwater platforms such as AUV.
In conclusion what reliability reduced asks in the prior art for synchronization detecting method under nonstationary noise environment
Topic, still shortage effective solution scheme.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of underwater sound communication synchronization signals of high reliability
Detection method and system carry out secondary detection to false-alarm signal using the time-frequency combination analytical characteristics of Fourier Transform of Fractional Order,
The characteristics of influence of the reduction false-alarm signal to underwater sound communication system, has realization simply, high reliablity.
The technical scheme adopted by the invention is that：
A kind of underwater sound communication sychronizing signal detecting method of high reliability, this approach includes the following steps：
Ambient noise is estimated, according to the detection threshold of setting, determines detection threshold value；
Copy coherent detection is carried out to signal is received, judges whether receive output amplitude of the signal after copy correlator
More than detection threshold value；
If not exceeded, then abandoning the reception signal；If being more than, fractional order Fourier is carried out to the copy of the reception signal
Domain search is converted, estimates its chirp rate, according to the error of chirp rate and true value, judges whether the reception signal of detection is same
Walk signal.
Further, the step of described pair of reception signal carries out copy coherent detection include：
Using the LFM signal of known parameters as local signal, coherent detection is carried out to signal is received using local signal, it is right
More than the reception signal of detection threshold value, tentatively it is judged as LFM synchronization signal.
Further, the copy of the described pair of reception signal carries out Fourier Transform of Fractional Order domain search, estimates its frequency modulation
Slope judges that the step of whether the reception signal detected is synchronization signal includes according to the error of chirp rate and true value：
It is scanned for according to copy of first step-size in search to the reception signal for being more than detection threshold value, estimates the reception signal
The first chirp rate；Calculate the first error of the first chirp rate and true value；
Judge whether first error is greater than first error threshold value, if more than the reception signal is then abandoned；If being not more than,
Then searched again for according to the second step-size in search, estimation receive signal the second chirp rate, calculate the second chirp rate with
Second error of true value；
Judge whether the second error is greater than the second error threshold value, if more than the reception signal is then abandoned；If being not more than,
Then reception signal detected is LFM synchronization signal.
Further, the calculation method of the first error is：
By calculating the absolute value of the difference of the first chirp rate and true value and the ratio of true value, first error is obtained；
The calculation method of second error is：
By calculating the absolute value of the difference of the second chirp rate and true value and the ratio of true value, the second error is obtained.
A kind of underwater sound communication synchronization signal detection system of high reliability, the system include：
Noise estimation module is configured as estimating ambient noise, and according to the detection threshold of setting, determines detection
The detection threshold value is sent to copy correlator by threshold value；
Copy correlator is configured as carrying out copy coherent detection to signal is received using local LFM signal, will be more than inspection
The copy for surveying the reception signal of threshold value is sent to fractional order Fourier detector；
Fractional order Fourier detector is configured as searching the copy progress Fourier Transform of Fractional Order domain for receiving signal
Rope estimates its chirp rate, according to the error of chirp rate and true value, judges whether the reception signal of detection is the synchronous letter of LFM
Number.
Further, the fractional order Fourier detector includes coarse search module, first error computing module, first sentences
Disconnected module, fine searching module, the second error calculating module and the second judgment module；
The coarse search module is configured as the copy according to the first step-size in search to the reception signal for being more than detection threshold value
It scans for, estimates the first chirp rate of the reception signal, be sent to first error computing module；
The first error computing module is configured as calculating the absolute value of the difference of the first chirp rate and true value and true
The ratio of value, obtains first error, is sent to first judgment module；
The first judgment module is configured as judging whether first error is greater than first error threshold value, if more than then
Abandon the reception signal；If being not more than, which is sent to fine searching module；
The fine searching module is configured as being searched again for according to the second step-size in search, and estimation receives the of signal
Two chirp rates are sent to the second error calculating module；
Second error calculating module is configured as calculating the absolute value of the difference of the second chirp rate and true value and true
The ratio of value obtains the second error, is sent to the second judgment module；
Second judgment module is configured as judging whether the second error is greater than the second error threshold value, if more than then
Abandon the reception signal；If being not more than, judge reception signal detected for LFM synchronization signal.
A kind of underwater sound communication system, the system include sequentially connected synchronizing indicator and communication data processor, described
Synchronizing indicator includes above-mentioned underwater sound communication synchronization signal detection system；The communication data processor includes demodulator reconciliation
Code device.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) rapid settling behavior and Fourier Transform of Fractional Order that the present invention combines copy correlator are to LFM signal parameter
Evaluation characteristic, noise is estimated by noise estimation module, determines the detection threshold of copy correlator；Copy correlator
It is detected using local LFM signal to signal is received, for being more than the signal of detection threshold, its copy is sent to fractional order
Fourier's detector；Fractional order Fourier detector carries out the search of fractional number order Fourier to the copy signal, estimates its tune
Frequency slope, if evaluated error, within detection threshold, judgement synchronizes success；
(2) present invention using noise estimation with self adaptive detection threshold adjustment technology, based on Fourier Transform of Fractional Order with
Copy correlator joint-detection realizes underwater sound synchronization signal detection；
(3) present invention can adaptively adjust detection threshold according to background noise level, reduce nonstationary noise to water
The influence of sound communication synchronizing indicator improves the reliability of synchronous detection system, utilizes the time-frequency of Fourier Transform of Fractional Order
Conjoint Analysis characteristic carries out secondary detection to false-alarm signal, reduces influence of the false-alarm signal to underwater sound communication system, has realization
Simply, the characteristics of high reliablity.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is underwater sound communication synchronization signal detection system structure diagram；
Fig. 2 is underwater sound communication sychronizing signal detecting method flow chart；
Fig. 3 is the copy detection result figure of non-stationary interference noise；
Fig. 4 is underwater sound communication system signal node composition；
Fig. 5 is underwater sound communication system work flow diagram.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, synchronization detecting method is under nonstationary noise environment in the prior art, reliability
The problem of reduction, in order to solve technical problem as above, present applicant proposes a kind of underwater sound communication synchronization signals of high reliability
Detection method and system are suitable for using underwater sound communication system of LFM (linear frequency modulation) signal as synchronous head, utilize fractional order
The time-frequency combination analytical characteristics of Fourier transformation carries out secondary detection to false-alarm signal, reduces false-alarm signal to underwater sound communication system
The characteristics of influence of system has realization simply, high reliablity.
In a kind of typical embodiment of the application, as shown in Figure 1, the underwater sound communication for providing a kind of high reliability is same
Signal detection system is walked, which includes：
Noise estimation module is configured as estimating ambient noise, and according to the detection threshold of setting, determines detection
The detection threshold value is sent to copy correlator by threshold value；
Copy correlator is configured as carrying out copy coherent detection to signal is received using local LFM signal, will be more than inspection
The copy for surveying the reception signal of threshold value is sent to fractional order Fourier detector；
Fractional order Fourier detector is configured as searching the copy progress Fourier Transform of Fractional Order domain for receiving signal
Rope estimates its chirp rate, according to the error of chirp rate and true value, judges whether the reception signal of detection is the synchronous letter of LFM
Number.
Specifically, the fractional order Fourier detector includes coarse search module, first error computing module, the first judgement
Module, fine searching module, the second error calculating module and the second judgment module；
The coarse search module is configured as according to the first step-size in search p0Pair to the reception signal for being more than detection threshold value
Originally it scans for, estimates the first chirp rate of the reception signalIt is sent to first error computing module；
The first error computing module is configured as calculating the first chirp rateWith true value k0Difference absolute value
With the ratio of true value, first error is obtainedIt is sent to first judgment module；
The first judgment module is configured as judging whether first error is greater than first error threshold value η0, if more than,
Then abandon the reception signal；If being not more than,The reception signal is then sent to fine searching module；
The fine searching module is configured as according to the second step-size in search p1(p1Less than p0) searched again for, estimation connects
Second chirp rate of the collection of letters numberIt is sent to the second error calculating module；
Second error calculating module is configured as calculating the absolute value and true value of the first chirp rate and true value difference
Ratio, obtain the second errorIt is sent to the second judgment module；
Second judgment module is configured as judging whether the second error is greater than the second error threshold value η1(η1It is less than
η0), if more than the reception signal is then abandoned；If being not more than, i.e.,Then judge reception signal detected
For LFM synchronization signal.
The underwater sound communication synchronization signal detection system for the high reliability that the present embodiment proposes, it is relevant quickly fixed in conjunction with copying
Position characteristic and Fourier Transform of Fractional Order estimate the evaluation characteristic of LFM signal parameter by noise estimation module to noise
Meter, determines the detection threshold of copy correlator；Copy correlator is detected using local LFM signal to signal is received, for
More than the signal of detection threshold, its copy is sent to fractional order Fourier detector；Fractional order Fourier detector is to the pair
This signal carries out the search of fractional number order Fourier, its chirp rate is estimated, if evaluated error within detection threshold, judges
Synchronize success.
In a kind of typical embodiment of the application, as shown in Fig. 2, the underwater sound communication for providing a kind of high reliability is same
Signal detecting method is walked, this approach includes the following steps：
Step 1：Using the LFM signal of known parameters as local signal.
Using LFM (linear frequency modulation) signal as synchronous head, using LFM signal as the local signal of copy correlator.
Step 2：Ambient noise is estimated in receiving end, and according to the detection threshold θ of setting, determines copy correlator
Detection threshold value ThMF。
Specifically, the detection threshold value Th of copy correlatorMFDetermination method be：
Mean power using the detection threshold θ of setting, i.e. minimum detectable signal to noise ratio, with copy correlator output noise
Value is calculated.The detection threshold value of copy correlator is calculated according to the minimum signal-to-noise ratio of user setting, fractional order Fourier
Transform domain estimates the error threshold of chirp rate, is configured by user according to reliability and the minimum step of analysis.
Step 3：Copy correlator carries out copy coherent detection to signal x (t) is received, and judges to receive signal x (t) by copying
Whether shellfish correlator output amplitude is more than detection threshold value ThMF；If receiving signal x (t) not surpass by copy correlator output amplitude
Cross detection threshold value ThMF, then abandon and receive signal x (t)；If receiving signal x (t) by copy correlator output amplitude is more than detection
Threshold value ThMF, then the reception signal x (t) is judged as LFM synchronization signal, and by the copy of the reception signal x (t)It sends
Give fractional order Fourier detector.
In synchronization detecting section, copy correlator is the optimal detector of known signal, energy under white Gaussian noise background
Enough realize the quick detection of LFM signal.Due to the interference of the nonstationary noise of strong amplitude, based on the relevant detector performance of copy
It will decline.Fig. 3 gives the noise waveform and its copy correlated results of actual measurement, and (a) is the time domain waveform of noise, and wherein noise is strong
Big rise and fall is spent, the intensity of interference noise is higher than ambient noise；(b) related by copy for the nonstationary interference noise of strong amplitude
The output envelope of device.At this point, copy correlator loses resistivity to the interference noise of non-stationary, generated in noise signal section
False-alarm causes receiving end to be demodulated according to the Data Position of mistake, and the interruption for causing information to be transmitted reduces communication system
Reliability.
Copy correlator is detected using local LFM signal to signal is received, for being more than detection threshold value ThMFReception
Its copy is sent to fractional order Fourier detector by signal.
Step 4：Fractional order Fourier detector carries out Fourier Transform of Fractional Order domain search to the copy of the reception signal,
Estimate its chirp rate, according to the error of chirp rate and true value, judges whether the reception signal of detection is synchronization signal.
Specifically, fractional order Fourier detector carries out Fourier Transform of Fractional Order domain search to the copy of the reception signal
Process be：
Step 401：According to the first step-size in search p0To the copy of the reception signalIt scans for, estimates that the reception is believed
Number the first chirp rateCalculate the first chirp rateWith true value k0First error；
Step 402：Judge whether first error is greater than first error threshold value η0If being not more than, i.e.,Then enter the fine searching stage, otherwise abandon signal, comes back to noise estimating part；
Step 403：According to the second step-size in search p1(p1Less than p0) searched again for, estimation receives the second tune of signal
Frequency slopeCalculate the second chirp rateWith true value k0The second error；
Step 404：Judge whether the second error is greater than the second error threshold value η1(η1Less than η0), if more than letter is then abandoned
Number, come back to noise estimating part；If being not more than, i.e.,Then judgement synchronizes success, detects reception letter
Number be LFM synchronization signal.
Wherein, the calculation method of the first error is：
By calculating the first chirp rate and the absolute value of true value difference and the ratio of true value, first error is obtained, i.e.,
The calculation method of second error is：
By calculating the second chirp rate and the absolute value of true value difference and the ratio of true value, the second error is obtained, i.e.,
The underwater sound communication sychronizing signal detecting method for the high reliability that the present embodiment proposes, it is relevant quickly fixed in conjunction with copying
Position characteristic and Fourier Transform of Fractional Order estimate the evaluation characteristic of LFM signal parameter by noise estimation module to noise
Meter, determines the detection threshold of copy correlator；Copy correlator is detected using local LFM signal to signal is received, for
More than the signal of detection threshold, its copy is sent to fractional order Fourier detector；Fractional order Fourier detector is to the pair
This signal carries out the search of fractional number order Fourier, its chirp rate is estimated, if evaluated error within detection threshold, judges
Synchronize success.
Another exemplary embodiment of the application, provides a kind of underwater sound communication system, which includes
Sequentially connected synchronizing indicator and communication data processor, the synchronizing indicator include above-mentioned underwater sound communication synchronization signal
Detection system；The communication data processor includes demodulator and decoder.
The signal structure of underwater sound communication system between LFM signal and communication data as shown in figure 4, be added certain length
Protection interval avoids the interference generated due to multi_path channel, and time span should be greater than the maximum delay extension of channel, to avoid
LFM signal interference communication data.
The underwater sound communication system workflow carries out ambient noise as shown in figure 5, in each period of system work first
Assessment calculate detection threshold value then according to preset detection threshold.Next enter synchronous detection-phase, confirming
The operation such as after receiving synchronization signal, handle communication data, including demodulate, decode.
The underwater sound communication system that the present embodiment proposes is based on using noise estimation and self adaptive detection threshold adjustment technology
Fourier Transform of Fractional Order and copy correlator joint-detection realize underwater sound synchronization signal detection.It can be according to ambient noise water
It is flat, detection threshold is adaptively adjusted, influence of the nonstationary noise to underwater sound communication synchronizing indicator is reduced, improves synchronous inspection
The reliability of examining system.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (7)
1. a kind of underwater sound communication sychronizing signal detecting method of high reliability, which is characterized in that include the following steps：
Ambient noise is estimated, according to the detection threshold of setting, determines detection threshold value；
Carry out copy coherent detection to signal is received, judge to receive output amplitude of the signal after copy correlator whether be more than
Detection threshold value；
If not exceeded, then abandoning the reception signal；If being more than, Fourier Transform of Fractional Order is carried out to the copy of the reception signal
Domain search estimates its chirp rate, according to the error of chirp rate and true value, judges whether the reception signal of detection is synchronous letter
Number.
2. the underwater sound communication sychronizing signal detecting method of high reliability according to claim 1, which is characterized in that described right
Receiving the step of signal carries out copy coherent detection includes：
Using the LFM signal of known parameters as local signal, coherent detection is carried out to signal is received using local signal, to being more than
The reception signal of detection threshold value, is tentatively judged as LFM synchronization signal.
3. the underwater sound communication sychronizing signal detecting method of high reliability according to claim 1, which is characterized in that described right
The copy of the reception signal carries out Fourier Transform of Fractional Order domain search, its chirp rate is estimated, according to chirp rate and true value
Error, judge that reception signal the step of whether being synchronization signal of detection includes：
The copy of reception signal for being more than detection threshold value is scanned for according to the first step-size in search, estimates the of the reception signal
One chirp rate；Calculate the first error of the first chirp rate and true value；
Judge whether first error is greater than first error threshold value, if more than the reception signal is then abandoned；If being not more than, press
It is searched again for according to the second step-size in search, estimation receives the second chirp rate of signal, calculates the second chirp rate and true value
The second error；
Judge whether the second error is greater than the second error threshold value, if more than the reception signal is then abandoned；If being not more than, institute
The reception signal of detection is LFM synchronization signal.
4. the underwater sound communication sychronizing signal detecting method of high reliability according to claim 3, which is characterized in that described
The calculation method of one error is：
By calculating the absolute value of the difference of the first chirp rate and true value and the ratio of true value, first error is obtained；
The calculation method of second error is：
By calculating the absolute value of the difference of the second chirp rate and true value and the ratio of true value, the second error is obtained.
5. a kind of underwater sound communication synchronization signal detection system of high reliability, which is characterized in that including：
Noise estimation module is configured as estimating ambient noise, and according to the detection threshold of setting, determines detection threshold
Value, is sent to copy correlator for the detection threshold value；
Copy correlator is configured as carrying out copy coherent detection to signal is received using local LFM signal, will be more than detection threshold
The copy of the reception signal of value is sent to fractional order Fourier detector；
Fractional order Fourier detector is configured as carrying out Fourier's retrieval to the copy for receiving signal, estimates its chirp rate,
According to the error of chirp rate and true value, judge whether the reception signal of detection is LFM synchronization signal.
6. the underwater sound communication synchronization signal detection system of high reliability according to claim 5, which is characterized in that described point
Number rank Fourier detector includes coarse search module, first error computing module, first judgment module, fine searching module, second
Error calculating module and the second judgment module；
The coarse search module is configured as carrying out according to copy of first step-size in search to the reception signal for being more than detection threshold value
Search, estimates the first chirp rate of the reception signal, is sent to first error computing module；
The first error computing module is configured as calculating the absolute value of the difference of the first chirp rate and true value and true value
Ratio obtains first error, is sent to first judgment module；
The first judgment module is configured as judging whether first error is greater than first error threshold value, if more than then abandoning
The reception signal；If being not more than, which is sent to fine searching module；
The fine searching module is configured as being searched again for according to the second step-size in search, and estimation receives the second tune of signal
Frequency slope is sent to the second error calculating module；
Second error calculating module is configured as calculating the absolute value of the difference of the second chirp rate and true value and true value
Ratio obtains the second error, is sent to the second judgment module；
Second judgment module is configured as judging whether the second error is greater than the second error threshold value, if more than then abandoning
The reception signal；If being not more than, judge reception signal detected for LFM synchronization signal.
7. a kind of underwater sound communication system, which is characterized in that including sequentially connected synchronizing indicator and communication data processor, institute
Stating synchronizing indicator includes underwater sound communication synchronization signal detection system described in claim 5 or 6；The communication data processor
Including demodulator and decoder.
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| CN110429954B (en) * | 2019-07-12 | 2021-03-23 | 厦门大学 | Transform domain underwater acoustic communication method based on chaotic spread spectrum |
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