CN108919176A - A kind of single vector sensor increasing order MUSIC direction finding technology - Google Patents
A kind of single vector sensor increasing order MUSIC direction finding technology Download PDFInfo
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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
- G01S3/802—Systems for determining direction or deviation from predetermined direction
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Abstract
The invention discloses a kind of single vector sensors to increase order MUSIC direction finding technology, belongs to sensor signal processing technology field.MUSIC direction finding technology evaluated error is small, and precision is high, and it is unit battle array that it, which requires the covariance matrix of the received ambient sea noise of acoustic vector sensors,.In underwater ambient noise, ambient sea noise power that the sound pressure channel and vibration velocity channel of acoustic vector sensors receive is simultaneously unequal, and MUSIC direction finding technology is caused to be unable to get due high-precision estimation in target acquisition under water.Present invention discover that the environmental noise power inconsistency that the sound pressure channel and vibration velocity channel of acoustic vector sensors receive causes a virtual source.For the orthogonality for guaranteeing goal orientation vector sum noise subspace, the steering vector of this virtual source is attributed to signal subspace rather than noise subspace by the present invention.Compared under low signal-to-noise ratio, the present invention still has sharp space spectral peak and lesser evaluated error.The present invention can be used for solving the passive direction finding problem in ambient sea noise to weak signal target.
Description
Technical field
The invention belongs to sensor signal processing technology fields, and in particular to a kind of single vector sensor increasing order MUSIC survey
To technology.
Background technique
The sound pressure channel and vibration velocity channel of acoustic vector sensors can concurrent obtain the acoustic pressure and vibration velocity information of sound field simultaneously, be
Submarine target direction finding provides more favorable tool and more information.MUSIC direction finding technology is a kind of super-resolution direction finding technology,
MUSIC technology is initially by R.O.Schmidt (R.O.Schmidt.Multiple emitter location and signal
parameter estimation[J].IEEE Transactions on Antennas and Propagation.1986,34
(3),pp:276-280) proposed in direction-finding station application.In recent years, Zeng Xiongfeng etc. (once pushed ahead vigorously, Sun Guiqing, Li Yu are yellow
Several DOA estimation methods [J] Chinese journal of scientific instrument .2012,33 (3) of Haining single vector hydrophone:499-507) MUSIC
Direction finding technology is extended in the direction finding application of single vector sensor submarine target.When acoustic vector sensors under water in application,
Ambient sea noise is Main Noise Sources, and ambient sea noise is in the power of sound pressure channel and vibration velocity channel and unequal, Sun Gui
Blueness etc. this has been done careful theory analysis and experimental verification (Sun Guiqing, Yang Desen, when win sound of the state based on vector hydrophone
Space correlation coefficient [J] acoustic journal .2003,28 (6) of pressure and particle vibration velocity:509-513).Existing MUSIC direction finding skill
Art in acoustic vector sensors direction finding in application, do not account for acoustic vector sensors sound pressure channel and vibration velocity channel institute it is received
Ambient sea noise power inconsistency causes MUSIC direction finding technology to be unable to get due oversubscription in target acquisition under water
Distinguish ability.Present invention discover that the received ambient sea noise power inconsistency of sound pressure channel and vibration velocity channel institute can cause void
Source destroys the orthogonality between the noise subspace and goal orientation vector that receive data covariance matrix, so that
MUSIC direction finding technology can not obtain due performance in low signal-to-noise ratio.The present invention considers the influence of this virtual source, proposes one kind
Increase order MUSIC direction finding technology, sharp spectral peak, angle estimation can still be obtained in low signal-to-noise ratio by increasing order MUSIC direction finding technology
Error is smaller.
Summary of the invention
The purpose of the present invention is to provide eliminating virtual source to influence, angle estimation error is smaller, and it is fat to solve secondary lobe height, main lobe
A kind of single vector sensor of problem increases order MUSIC direction finding technology.
The purpose of the present invention is realized by following technical solution：
Acoustic vector sensors combined by the axially vertical vibration velocity sensor space concurrent of sound pressure sensor and three spaces and
At.Acoustic vector sensors space concurrent measures three vibration velocity components in acoustic pressure and x, y, z direction simultaneously.
A kind of single vector sensor increasing order MUSIC direction finding technology, includes the following steps：
Step 1：Acoustic vector sensors receive a far-field signal, the acoustic vector after calibration in underwater ambient noise
Ro-vibrational population is not present between the sound pressure channel and vibration velocity channel of sensor.Acoustic vector sensors output at this time is N number of fast
Beat of data r (n), r (n) are the vector of M × 1, M=4, n=1 ..., N.
Step 2：According to N number of snapshot data estimate covariance matrix
Step 3：Eigenvalues Decomposition is carried out to covariance matrixWherein γmIt is characteristic value, arranges in descending order
Column, vmIt is feature vector.
Step 4：In underwater ambient noise, sound pressure channel and the received ambient sea noise power of vibration velocity channel are not
Consistency leads to virtual source, and virtual source number is 1.At this point, v2Signal subspace is belonged in, and noise subspace is by Vector Groups
{v3,…,vMExtend.
Step 5：Utilize { v3,…,vM, construct noise subspace projection matrix
Step 6：By the spectrum peak position of search lower room spectrum, the angle estimation of target is as follows：
Wherein,WithIt is the azimuth estimated value and pitch angle estimated value of target, S (θ, φ)=u respectivelyH(θ, φ) Pnu
(θ, φ) is spatial spectrum, u (θ, φ)=[1, cos (θ) cos (φ), sin (θ) cos (φ), sin (φ)]TIt is acoustic vector sensing
Steering vector of the device at angle (θ, φ), θ ∈ [- π, π] are search azimuths, and φ ∈ [- pi/2, pi/2] is search pitch angle.
Spatial spectrum S (θ, φ) is in target angle (θ1,φ1) and (- 180+ θ1,-φ1) nearby there are two spectral peaks, thereforeThere are direction ambiguities.
Step 7：Utilize { v2,…,vM, it calculatesWithUtilize MUSIC
The rough estimate that direction finding technology obtains target angle is as follows：
According toIt eliminatesDirection ambiguity.
The present invention can also include：
Step 4 further includes：
Under isotropic noise field condition, the covariance matrix desired value that acoustic vector sensors receive data is：
Wherein, u (θ1, φ1)=[1, cos (θ1)cos(φ1), sin (θ1)cos(φ1), sin (φ1)]TIt is leading for target
To vector,It is target power,It is the ambient sea noise power of sound pressure sensor. For vibration velocity sensing
The ambient sea noise power that device receives, IMIt is the unit matrix of M × M, z1=[1,0,0,0]TIt is the steering vector of virtual source.?
Under the conditions of non-isotropy noise field, virtual source number can still be taken as 1.
When mutually orthogonal two-dimentional vibration velocity sensor space is total to acoustic vector sensors by sound pressure sensor and in the horizontal plane
When point is composed, M=3, u (θ, φ)=[1, cos (θ) cos (φ), sin (θ) cos (φ)]T。
When known to the pitch angle of target, by the spectrum peak position of search lower room spectrum, the orientation angles of target are estimated
It is as follows：
At this point, the rough estimate evaluation of azimuth of target is as follows：
When known to the azimuth of target, by the spectrum peak position of search lower room spectrum, the pitch angle of target is estimated
It is as follows：
At this point, the rough estimate evaluation at target pitch angle is as follows：
The beneficial effects of the present invention are：
Present invention discover that the ambient sea noise power that sound pressure channel and vibration velocity channel receive leads to a virtual source, to disappear
Except the influence of this virtual source, a kind of increasing order MUSIC direction finding technology is proposed.Increase order MUSIC direction finding technology the order of signal subspace
Increase by 1, so that virtual source is included into signal subspace, ensure that the orthogonality of noise subspace and goal orientation vector.Increase order
MUSIC direction finding technology still has sharp spectral peak and higher estimated accuracy under Low SNR.It solves existing
MUSIC direction finding technology is in underwater ambient noise in application, the problem that secondary lobe is high, main lobe is fat.Present invention is mainly applied to water
The passive detection of lower weak signal target.
Detailed description of the invention
Fig. 1 is to increase order MUSIC direction finding technology flow chart；
Fig. 2 is the two-dimensional space spectrum for increasing order MUSIC direction finding technology；
Fig. 3 is that the two-dimensional space of MUSIC direction finding technology is composed；
Fig. 4 is anechoic tank, experimental result.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing：
Embodiment one：
In conjunction with Fig. 1, process flow of the invention is comprised the following steps：
Acoustic vector sensors combined by the axially vertical vibration velocity sensor space concurrent of sound pressure sensor and three spaces and
At.Acoustic vector sensors space concurrent measures three vibration velocity components in acoustic pressure and x, y, z direction simultaneously.
Step 1：Acoustic vector sensors receive a far-field signal, the acoustic vector after calibration in underwater ambient noise
Ro-vibrational population is not present between the sound pressure channel and vibration velocity channel of sensor.Acoustic vector sensors output is N number of number of snapshots
It is the vector of M × 1, M=4, n=1 ..., N according to r (n), r (n).
Step 2：According to N number of snapshot data estimate covariance matrix
Step 3：Eigenvalues Decomposition is carried out to covariance matrixWherein γmIt is characteristic value, arranges in descending order
Column, vmIt is feature vector.
Step 4：In underwater ambient noise, sound pressure channel and the received ambient sea noise power of vibration velocity channel are not
Consistency leads to virtual source, and virtual source number is 1.At this point, v2Signal subspace is belonged in, and noise subspace is by Vector Groups
{v3,…,vMExtend.
Step 5：Utilize { v3,…,vM, construct noise subspace
Step 6：By the spectrum peak position of search lower room spectrum, estimate that the angle of target is as follows：
Wherein,WithIt is the azimuth estimated value and pitch angle estimated value in source of penetrating, S (θ, φ)=u respectivelyH(θ, φ) Pnu
(θ, φ) is spatial spectrum, u (θ, φ)=[1, cos (θ) cos (φ), sin (θ) cos (φ), sin (φ)]TIt is acoustic vector sensing
Device is in the steering vector of (θ, φ) angle, and θ ∈ [- π, π] is search azimuth, and φ ∈ [- pi/2, pi/2] searches for pitch angle.
Spatial spectrum S (θ, φ) is in target angle (θ1,φ1) and (- 180+ θ1,-φ1) nearby there are two spectral peaks, thereforeThere are direction ambiguities.
Step 7：The direction ambiguity in step 6 is released using MUSIC direction finding technology.It specifically includes, utilizes { v2,…,
vM, it calculatesWithAnd the angle of rough estimate target is as follows：
According toIt eliminatesDirection ambiguity.
Acoustic vector sensors increase order MUSIC direction finding technology, further include：
When mutually orthogonal two-dimentional vibration velocity sensor space is total to acoustic vector sensors by sound pressure sensor and in the horizontal plane
When point is composed, M=3, u (θ, φ)=[1, cos (θ) cos (φ), sin (θ) cos (φ)]T。
When known to the pitch angle of target, by the spectrum peak position of search lower room spectrum, the orientation angles of target are estimated
It is as follows：
At this point, the rough estimate evaluation of azimuth of target is as follows：
When known to the azimuth of target, by the spectrum peak position of search lower room spectrum, the pitch angle of target is estimated
It is as follows：
At this point, the rough estimate evaluation at target pitch angle is as follows：
Present invention specific implementation is described further below by simulation example and test examples.
Simulation example：
Acoustic vector sensors combined by the axially vertical vibration velocity sensor space concurrent of sound pressure sensor and three spaces and
At.Acoustic vector sensors space concurrent measures three vibration velocity components in acoustic pressure and x, y, z direction simultaneously.Ambient sea noise is
Isotropic noise, at this time ηx=ηy=ηz=1/3, a target is from (θ1,φ140 ° of)=(, 10 °) it is incident on acoustic vector sensing
Device, signal-to-noise ratio are -3 dB.Fig. 2 is the spatial spectrum for increasing order MUSIC direction finding technology, and Fig. 3 is the space of tradition MUSIC direction finding technology
Spectrum.As it is clear from fig. 2 that increasing order MUSIC direction finding technology in (- 180 ° of+θ1,-φ1) nearby there are direction ambiguities.According to Fig.3,
Peak value given by MUSIC direction finding technology is at (42.8 °, 10.6 °), and according to this angle, we be can determine whether in Fig. 2, (40.1 °,
9.9 °) be target angle estimation value, and (- 140.8 °, -11.6 °) are direction ambiguities.Compare Fig. 2 and Fig. 3, it is known that MUSIC is surveyed
Secondary lobe to technology is higher, and main lobe is very wide, and the secondary lobe that the present invention increases order MUSIC direction finding technology is very low, and main lobe is very narrow.In addition,
From Fig. 2 and Fig. 3 it is found that the present invention, which increases order MUSIC direction finding technology, lower evaluated error.
Anechoic tank, test examples：
Carry out the estimation experiment of acoustic vector target bearing angle in Harbin Engineering University's anechoic tank,.Acoustic vector sensors by
One sound pressure sensor and two mutually orthogonal in the horizontal plane vibration velocity sensors composition.Target sound source emits single-frequency in experiment
Signal, signal frequency 2kHz, sound source are located at same depth away from acoustic vector sensors 15m, sound source and acoustic vector sensors, at this time
Pitch angle φ1=0 °.Since this acoustic vector sensors is free of the vibration velocity sensor perpendicular to horizontal plane, we only provide azimuth
Spatial spectrum, as shown in Figure 4.Compare MUSIC direction finding technology and increases order MUSIC direction finding technology it is found that increasing order MUSIC direction finding technology
Secondary lobe at 135.8 degree corresponds to true target bearing, and the peak value at -66.2 degree is that angle estimation is fuzzy.In addition,
The secondary lobe of MUSIC direction finding technology is higher and main lobe is wider, this is because MUSIC direction finding technology does not account for acoustic vector sensors
Virtual source caused by sound pressure channel and the received ambient sea noise power inconsistency of vibration velocity channel.Increase order MUSIC direction finding technology
This virtual source is included into signal subspace, to ensure that the orthogonality of goal orientation vector sum noise subspace, obtains lower side
Valve and relatively narrow main lobe.
Embodiment two：
A kind of single vector sensor increasing order MUSIC direction finding technology, includes the following steps：
(1) acoustic vector sensors receive a far-field signal in underwater ambient noise, and calibration acoustic vector sensors make
It obtaining and Ro-vibrational population is not present between sound pressure channel and vibration velocity channel, acoustic vector sensors output is N number of snapshot data r (n),
R (n) is the vector of M × 1, and M=4, n=1 ..., N, N are positive integer；
(2) according to N number of snapshot data estimate covariance matrix
(3) Eigenvalues Decomposition is carried out to obtained covariance matrixWherein γmIt arranges in descending order
Characteristic value, vmIt is feature vector；
(4) in underwater ambient noise, sound pressure channel and the received ambient sea noise power of vibration velocity channel are inconsistent
Property lead to virtual source, virtual source number is 1, by v2It is included into signal subspace, noise subspace is by Vector Groups { v3,…,vMExtension and
At；
(5) { v is utilized3,…,vM, construct noise subspace projection matrix
(6) spectrum peak position composed by search space, the angle estimation of target are as follows：
Wherein,WithIt is the azimuth estimated value and pitch angle estimated value of target, S (θ, φ)=u respectivelyH(θ, φ) Pnu
(θ, φ) is spatial spectrum, u (θ, φ)=[1, cos (θ) cos (φ), sin (θ) cos (φ), sin (φ)]TIt is acoustic vector sensing
Steering vector of the device at angle (θ, φ), θ ∈ [- π, π] are search azimuths, and φ ∈ [- pi/2, pi/2] is search pitch angle；
(7) { v is utilized2,…,vM, it calculatesWithUtilize MUSIC direction finding
The rough estimate that technology obtains target angle is as follows：
According toIt eliminatesDirection ambiguity.
The step (4) specifically includes：
(4.1) under isotropic noise field condition, the covariance matrix desired value that acoustic vector sensors receive data is：
Wherein, u (θ1, φ1)=[1, cos (θ1)cos(φ1), sin (θ1)cos(φ1), sin (φ1)]TIt is leading for target
To vector,It is target power,It is the ambient sea noise power of sound pressure sensor, For vibration velocity sensing
The ambient sea noise power that device receives, IMIt is the unit matrix of M × M, z1=[1,0,0,0]TIt is the steering vector of virtual source,
Under the conditions of non-isotropy noise field, virtual source number is taken as 1；
(4.2) the two-dimentional vibration velocity sensor mutually orthogonal by sound pressure sensor and in the horizontal plane when acoustic vector sensors is empty
Between concurrent when being composed, M=3, u (θ, φ)=[1, cos (θ) cos (φ), sin (θ) cos (φ)]T,
(4.3) when known to the pitch angle of target, it is set as φ1, by the spectrum peak position of search lower room spectrum, estimate mesh
Target orientation angles are as follows：
At this point, the rough estimate evaluation of azimuth of target is as follows：
(4.4) when known to the azimuth of target, it is set as θ1, by the spectrum peak position of search lower room spectrum, estimate mesh
Target pitch angle is as follows：
At this point, the rough estimate evaluation at target pitch angle is as follows：
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (2)
1. a kind of single vector sensor increases order MUSIC direction finding technology, which is characterized in that include the following steps：
(1) acoustic vector sensors receive a far-field signal in underwater ambient noise, and calibration acoustic vector sensors make sound
Ro-vibrational population is not present between pressure passageway and vibration velocity channel, acoustic vector sensors output is N number of snapshot data r (n), r (n)
It is the vector of M × 1, M=4, n=1 ..., N, N are positive integer；
(2) according to N number of snapshot data estimate covariance matrix
(3) Eigenvalues Decomposition is carried out to obtained covariance matrixWherein γmIt is the feature arranged in descending order
Value, vmIt is feature vector；
(4) in underwater ambient noise, sound pressure channel and the received ambient sea noise power inconsistency of vibration velocity channel are led
Virtual source is caused, virtual source number is 1, by v2It is included into signal subspace, noise subspace is by Vector Groups { v3,…,vMExtend；
(5) { v is utilized3,…,vM, construct noise subspace projection matrix
(6) spectrum peak position composed by search space, the angle estimation of target are as follows：
Wherein,WithIt is the azimuth estimated value and pitch angle estimated value of target, S (θ, φ)=u respectivelyH(θ, φ) PnU (θ,
It φ) is spatial spectrum, u (θ, φ)=[1, cos (θ) cos (φ), sin (θ) cos (φ), sin (φ)]TIt is that acoustic vector sensors exist
Steering vector at angle (θ, φ), θ ∈ [- π, π] are search azimuths, and φ ∈ [- pi/2, pi/2] is search pitch angle；
(7) { v is utilized2,…,vM, it calculatesWithUtilize MUSIC direction finding technology
The rough estimate for obtaining target angle is as follows：
According toIt eliminatesDirection ambiguity.
2. a kind of single vector sensor according to claim 1 increases order MUSIC direction finding technology, which is characterized in that described
Step (4) specifically includes：
(4.1) under isotropic noise field condition, the covariance matrix desired value that acoustic vector sensors receive data is：
Wherein, u (θ1, φ1)=[1, cos (θ1)cos(φ1), sin (θ1)cos(φ1), sin (φ1)]TIt is the guiding arrow of target
Amount,It is target power,It is the ambient sea noise power of sound pressure sensor, It is connect for vibration velocity sensor
The ambient sea noise power received, IMIt is the unit matrix of M × M, z1=[1,0,0,0]TIt is the steering vector of virtual source, non-each
To under the conditions of same sex noise field, virtual source number is taken as 1；
(4.2) the two-dimentional vibration velocity sensor space mutually orthogonal by sound pressure sensor and in the horizontal plane when acoustic vector sensors is total to
When point is composed, M=3, u (θ, φ)=[1, cos (θ) cos (φ), sin (θ) cos (φ)]T,
(4.3) when known to the pitch angle of target, it is set as φ1, by the spectrum peak position of search lower room spectrum, estimate target
Orientation angles are as follows：
At this point, the rough estimate evaluation of azimuth of target is as follows：
(4.4) when known to the azimuth of target, it is set as θ1, by the spectrum peak position of search lower room spectrum, estimate bowing for target
Elevation angle degree is as follows：
At this point, the rough estimate evaluation at target pitch angle is as follows：
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