CN108957403A - A kind of Gauss curve fitting envelope delay estimation method and system based on broad sense cross-correlation - Google Patents
A kind of Gauss curve fitting envelope delay estimation method and system based on broad sense cross-correlation Download PDFInfo
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- CN108957403A CN108957403A CN201810603565.7A CN201810603565A CN108957403A CN 108957403 A CN108957403 A CN 108957403A CN 201810603565 A CN201810603565 A CN 201810603565A CN 108957403 A CN108957403 A CN 108957403A
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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
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention belongs to radio direction findings；Radionavigation；Using radio wave ranging or test the speed；Using the reflection of radio wave or reradiative positioning or there is detection；Using the similar device technical field of other waves, a kind of Gauss curve fitting envelope delay estimation method and system based on broad sense cross-correlation is disclosed, the cross-correlation function value of signal is obtained by general cross correlation；The envelope point of cross-correlation function is extracted using segmentation Maximum Approach；Time delay estimated value using Gaussian function fitting envelope, using Gaussian function maximum of points as signal.The present invention utilizes broad sense cross-correlation calculation cross-correlation function value；The envelope of cross-correlation function is extracted using the method for segmentation maximum envelope extraction；Envelope is fitted by the way of Gauss curve fitting；Taking the corresponding time delay of envelope maximum value is the arrival time delay difference of two signals.Computation complexity of the present invention is low, it is easy to accomplish, emulation experiment demonstrates the accuracy of validity, universality and the time delay estimation of algorithm.
Description
Technical field
The invention belongs to radio direction findings；Radionavigation；Using radio wave ranging or test the speed；Using radio wave
There is detection in reflection or reradiative positioning；Using the similar device technical field of other waves, more particularly to one kind is based on wide
The Gauss curve fitting envelope delay estimation method and system of adopted cross-correlation.
Background technique
Currently, the prior art commonly used in the trade be such that passive target detection with good concealment, low in energy consumption, cost is few,
The advantages such as it is not easy to interfere play an important role in fields such as military affairs, national defense safety, environmental monitoring, emergency relief, military surveillances.Sound
Array sensor networks are the most commonly used one of passive detection technologies, in automatic detection, positioning, identification and high speed real-time tracking
Etc. show outstanding performance, and sound wave can bypass the barriers such as trees, stone riprap, even if also can in radar detection blind area
Effectively search target.Therefore, acoustic array sensor network can make up it is active detection there are the problem of, embody higher
Practical value.Accurate time delay estimation is the core link and passive target positioning accurate of acoustic array sensor network detection
Spend improved committed step.Minimum mean square self-adaption filter method (LMS) and broad sense cross-correlation function method (GCC) are frequency of use
Highest method, and on the basis of both methods, the numerous algorithms for improving or deriving improve the accurate of time delay estimation
Property.Right influence of the minimum mean square self-adaption filter method vulnerable to environment, filter order etc., cannot good approaching to reality value；Extensively
Adopted cross-correlation function method computation complexity is low, be easily achieved, real-time is good and the ability with anti-reverberation and noise, using more
Extensively.Show the robustness of algorithm from different test wrapper borders, different sound objects etc. based on GCC sound source delay time estimation method
With the accuracy of time delay estimation.The prior art one proposes a kind of frequency-division section time delay estimation calibration calculation based on frequency domain probabilistic model
Method carries out the probability mould that segmental training establishes measuring node and reference mode in frequency domain to signal is received on the basis of GCC
Type obtains the time delay estimation of this signal in a manner of the weighting of each frequency range；This solves receive signal node hardware
The low problem of Time delay Estimation Accuracy caused by energy and environmental factor difference, but this method needs priori knowledge to carry out model training,
Priori knowledge can not often be known in advance in practice, and model performance is divided by frequency range and deviation threshold selection is limited, rationally
Frequency range divide and deviation threshold strategy also need further to determine.The prior art two proposes a kind of based on empirical modal point
The secondary Time Delay Estimation Based for solving reconstruct, before carrying out correlation, the method combined using Cepstrum Method and spectrum-subtraction is distinguished
Signal dominant component and noise component(s), and signal decomposition and reconstruct are carried out using empirical mode decomposition method, so that method
Noise immunity is more excellent when progress time delay estimation, and cross-correlation peak value is sharper keen；Though these pretreatments and noise reduction technology improve time delay
Estimated accuracy, but computation complexity is high, most likely results in whole system paralysis in the situation that system's lifetime is limited, it can not
Achieve the purpose that detect target.The prior art three proposes what a kind of broad sense cross-correlation function method was combined with Wavelet Algorithm
New method, which can not only inhibit noise, but also can also show preferably time delay estimation performance for moving sound, but small
Selection and decomposition scale of the denoising effect of wave by wavelet basis are restricted.Under noise and reverberant ambiance, GCC Time delay Estimation Accuracy
Be remarkably decreased, to solve this problem, the methods of secondary cross-correlation, Hilbert transform, spectrum analysis, matched filtering meet the tendency of and
Raw, these right algorithms are all made of optimization algorithm and sharpen peak value, and weakening noise influences and then cause high meter to what time delay was estimated
Complexity is calculated, a large amount of memory spaces is occupied, causes the huge storage overhead of system.
In conclusion problem of the existing technology is:
(1) prior art one is in model foundation, needs priori knowledge, and in actual scene, which is often difficult to meet,
And the performance of model is divided by frequency range and deviation threshold selection is limited, the technology do not provide rationally optimal frequency range divide and
Deviation threshold selection scheme.
(2) prior art two improves Time delay Estimation Accuracy, but this method using various Signal Pretreatments and noise reduction technology
The operation such as selection, decomposition, reconstruct of the high-frequency signal of progress, results in high computation complexity, proposes to system storage
Higher requirement；If system life cycle is short, which will be unable to apply.
(3) prior art three carries out Signal Pretreatment, but the skill using wavelet de-noising technology under noise and reverberant ambiance
Art anti-acoustic capability is restricted by wavelet basis and decomposition scale, and the preferred plan for determining the parameter is not provided in the technology.
(4) to weaken the influence of noise and reverberation to Time delay Estimation Accuracy, the secondary cross-correlation of use, Hilbert become
Change, spectrum analysis, the means such as matched filtering sharpen GCC peak value, improve precision, but performance restraining factors existing for these technologies itself
It is closely related with Time delay Estimation Accuracy, as filter order limitation, reasonable spectrum analysis high-frequency signal selection strategy determine etc., this
A little methods will lead to high computation complexity, storage, power consumption etc. can be caused to bear to system, or even because parameter setting is unreasonable
So that whole system is collapsed.
Solve the difficulty and meaning of above-mentioned technical problem:
In view of the above technical problems, it solves difficulty and focuses primarily upon the priori knowledge for how obtaining target sound source, model ginseng
The determination of the best plan of establishment of number and system power dissipation and memory problem as caused by computation complexity high optimization algorithm.It is practical
In, the characteristics such as randomness, the uncertainty of number, unpredictability of dbjective state for occurring by target sound source know priori
Knowledge is difficult to obtain, and the method application based on priori knowledge is limited, and therefore, studies the time delay estimation restricted without priori knowledge
Method is significant to mobile and fixed target acquisition；Secondly, the optimization scheme of model parameter setting determines that research not only may be used
To promote the precision and universality of time delay estimation, and system can be mitigated to burdens such as cost, power consumption, storages, be more conducively based on
Realization of the technology of time delay estimation in engineering.
Summary of the invention
In view of the problems of the existing technology, the present invention provides when a kind of Gauss curve fitting envelope based on broad sense cross-correlation
Prolong estimation method and system.
The invention is realized in this way a kind of Gauss curve fitting envelope delay estimation method based on broad sense cross-correlation, described
Gauss curve fitting envelope delay estimation method based on broad sense cross-correlation obtains the cross-correlation function of signal by general cross correlation
Value；The envelope point of cross-correlation function is extracted using segmentation Maximum Approach；Using Gaussian function fitting envelope, with Gaussian function maximum
Time delay estimated value of the value point as signal.
Further, the Gauss curve fitting envelope delay estimation method based on broad sense cross-correlation specifically includes:
(1) it is segmented maximum envelope extraction；
(2) the Gauss curve fitting envelope delay estimation of GCC, n discrete data point (xi,yi) (i=1,2 ..., n), construction one
A Gaussian function g (x):
So thatObtain minimum value.
Further, described (1) specifically includes:
Step 1, data prediction
Every segment data length: d_length is set；
Every segment data: Rs1s2(τ):d_R；
It is segmented number: N_d
If (d_R%d_length==0)
N_d=d_R/d_length
else
N_d=d_R/d_length+1
end if
Step 2, envelope extraction calculate the maximum value of each segment data and are stored in set and form initial envelope point: up_
envelope；
Step 3, threshold calculations:
Step 4 searches the data segment where the maximum value in up_envelope, is denoted as R_max, the length is d_Rm,
Compensation data is carried out according to threshold value, rule is as follows:
If R_max (i) (i=1 .., d_Rm) > threshold1；
Up_envelope=up_envelope ∪ R_max (i)；
end if
Step 5 obtains final envelope point set up_envelope.
Further, described (2) specifically include:
Input: the signal s that sensor node receives1,s2；
Step 1 calculates R by crossing GCC methods1s2(τ)；
Step 2 extracts envelope point: up_envelope using segmentation maximum envelope extraction method；
Step 3, using Gaussian curve, the envelope point that is extracted in fit procedure two；
Step 4 obtains time delay estimated value by searching for Gaussian curve function maxima point:
Another object of the present invention is to provide described in a kind of realize based on the Gauss curve fitting envelope delay of broad sense cross-correlation
The Gauss curve fitting envelope delay estimating system based on broad sense cross-correlation of estimation method, the Gauss based on broad sense cross-correlation are quasi-
Closing envelope delay estimating system includes:
Cross-correlation function module is extracted, obtains the cross-correlation function value of signal for general cross correlation；Using segmentation pole
Big value method extracts the envelope point of cross-correlation function；
Be fitted envelope module, for utilize Gaussian function fitting envelope, using Gaussian function maximum of points as signal when
Prolong estimated value.
Another object of the present invention is to provide described in a kind of application based on the Gauss curve fitting envelope delay of broad sense cross-correlation
The acoustic matrix sensor of estimation method.
In conclusion advantages of the present invention and good effect are as follows: the present invention proposes a kind of Gauss based on broad sense cross-correlation
It is fitted envelope delay estimation method, this method utilizes broad sense cross-correlation calculation cross-correlation function value；Using segmentation maximum envelope
The method of extraction extracts the envelope of cross-correlation function；Envelope is fitted in the way of Gauss curve fitting；Take envelope maximum value corresponding
Time delay is the arrival time delay difference of two signals.Priori knowledge of the present invention without any detection target, computation complexity is low, is easy to
It realizes, emulation experiment demonstrates the accuracy of validity, universality and the time delay estimation of algorithm.
The present invention has obtained project of national nature science fund project (No.61572435,61472305,61473222), complexity
Electronic system emulates key lab's basic research fund (No.DXZT-JC-ZZ-2015-015), Ningbo City's Natural Science Fund In The Light
Project (No.2016A610035,2017A610119) is subsidized.
Detailed description of the invention
Fig. 1 is the Gauss curve fitting envelope delay estimation method process provided in an embodiment of the present invention based on broad sense cross-correlation
Figure.
Fig. 2 is broad sense correlation time-delay estimate flow chart provided in an embodiment of the present invention.
Fig. 3 is the principle flow chart of the Gauss curve fitting envelope delay estimation method provided in an embodiment of the present invention based on GCC.
Fig. 4 is the signal waveform schematic diagram that node provided in an embodiment of the present invention receives.
Fig. 5 is two methods time delay estimated result schematic diagram provided in an embodiment of the present invention.
Fig. 6 is that outdoor experimental signal provided in an embodiment of the present invention collects schematic diagram.
Fig. 7 is that sonic transducer provided in an embodiment of the present invention receives time domain plethysmographic signal schematic diagram.
Fig. 8 is two kinds of algorithms time delay estimated result schematic diagram provided in an embodiment of the present invention.
Fig. 9 is three kinds of algorithms time delay evaluated error comparison schematic diagram provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Time delay estimation is one of passive target detection and the key technology of positioning based on acoustic array sensor network.It uses
The highest broad sense cross correlation algorithm of frequency is vulnerable to noise jamming, it is difficult to meet the requirement of precision.To solve this problem, of the invention
The delay time estimation method for proposing a kind of Gauss curve fitting envelope based on broad sense cross-correlation, obtains signal by general cross correlation
Cross-correlation function value；The envelope point of cross-correlation function is extracted using segmentation Maximum Approach；Using Gaussian function fitting envelope, with height
This time delay estimated value of function maxima point as signal；It is significant by actual measurement and MATLAB emulation, method performance of the invention
Better than general cross correlation and secondary correlation method, Time delay Estimation Accuracy and noiseproof feature with higher.
As shown in Figure 1, the Gauss curve fitting envelope delay estimation method provided in an embodiment of the present invention based on broad sense cross-correlation
The following steps are included:
S101: the cross-correlation function value of signal is obtained by general cross correlation；It is extracted using segmentation Maximum Approach mutual
Close the envelope point of function；
S102: Gaussian function fitting envelope, the time delay estimated value using Gaussian function maximum of points as signal are utilized.
Application principle of the invention is further described with reference to the accompanying drawing.
1 algorithm description
1.1 signal model
Spacing is two sound transducer sensor of diAnd sensorjThe signal s receivedi(t) (i, j=1 ..., M)
It can indicate are as follows:
s1(t)=α1s(t-τ1)+n1(t)
s2(t)=α2s(t-τ2)+n2(t)；
In formula, s (t) is sound source original signal, αiDecaying and the α of array are traveled to from sound source for soundi∈ (0,1], τiFor
Propagation time of the sound source to sound transducer, niIt (t) is interference noise.
1.2 broad sense cross correlation algorithms
Broad sense cross correlation algorithm is the classic algorithm in time delay estimation field, is improved in signal by frequency domain weighting processing mode
The weight of effective spectrum, to obtain high-precision time delay estimation.Algorithm flow chart is shown in Fig. 2.
Steps are as follows for the calculating of delay time estimation method based on GCC:
The 1.2 Gauss curve fitting envelope delay estimation methods based on broad sense cross-correlation
The Time delay Estimation Accuracy of broad sense cross correlation algorithm rests on sampled point level, and under Low SNR, time delay
Estimation performance is remarkably decreased, and is based on this, high-accuracy time delay estimation method of the present invention, i.e., based on the Gauss curve fitting packet of broad sense cross-correlation
The flow chart of network Time Delay Estimation Algorithms, algorithm principle is as shown in Figure 3.
A is segmented maximum envelope extraction algorithm
In broad sense cross-correlation, due to the influence of noise and reverberant ambiance so that peak value is no longer sharp, and related coefficient compared with
Big value will be estimated to be affected to time delay, rationally accurately be estimated using these the larger value time delay particularly significant.The present invention point
Section maximum envelope extraction method, is not only effectively utilized very big value information, but also handled minimum redundancy, so that time delay
Estimate more accurate.Steps are as follows for the calculating of algorithm:
Gauss curve fitting envelope delay estimation method of the B based on GCC
Assuming that known n discrete data point (xi,yi) (i=1,2 ..., n), are intended to construct a Gaussian function g (x):
So that in formula Gaussian function each point deviation and minimum, i.e.,Obtain minimum value.
It can be realized a little outer prediction by gaussian curve approximation, calculated in fine-point, improve the precision of time delay estimation, algorithm
Calculating steps are as follows:
Application effect of the invention is explained in detail below with reference to time delay simulation and performance evaluation.
The performance that algorithm is proposed for verifying has carried out indoor and outdoor actual measurement sound source data and has collected, according to sound source characteristic and reality
It tests scene difference and devises 2 groups of experiments altogether.Sample frequency fs=61400Hz, sampling interval Ts=4s.And pass through root-mean-square error
(RMSE) directly related algorithm (CC) and secondary related algorithm test with algorithm proposed by the present invention and estimate by evaluation index
Count performance comparison analysis.
Sound source experiment is pinpointed in the room A
In an experiment, acoustic target is apart from left probe 0.76m, apart from right probe 0.90m, range difference -0.14m.Experiment from
The higher data segment of amplitude is intercepted in the signal being collected into, data segment, length is taken as 2048 sampled points, carry out time delay estimation, two
Road time domain plethysmographic signal is such as shown in Fig. 4.Time delay estimation has been carried out using GCC and method proposed by the present invention, as a result as shown in figure 5,
As seen from the figure, Gaussian curve can preferably show the variation tendency of cross-correlation function, and two methods multiframe time delay is estimated
The RMSE of value is calculated, and is shown in Table 1, and method proposed by the present invention has lower root-mean-square error compared with GCC method, when
It is higher to prolong estimated accuracy.
1 two methods performance of table compares
| Method | True value | GCC method | The method of proposition |
| Time delay value | -0.00041176 | -0.00073294 | -0.00038415 |
| RMSE | 0 | 0.000321176 | 0.00002765 |
Sound source test is pinpointed outside the room B
Outdoor carries out sound-source signal collection using linear array, and Fig. 6 illustrates the scene schematic diagram of outdoor measurement.It is measuring
In, 1 node and 2 nodal distance 12.5m, 2 nodes and 3 nodal distance 14.5m, 1 sound transducer 19.8m of target range, distance
2 sensor 10.4m, 3 sound transducer 12.24m of distance；Sample frequency Fs=50000Hz, sampling time Ts=20s.
The time domain plethysmographic signal that three Acoustic Sensor Nodes receive is shown in Fig. 7.Using GCC and method proposed by the present invention
Time delay estimated result it is as shown in Figure 8.As shown in Figure 8, the upper lower envelope that the present invention extracts being capable of very high reflection correlation function
Variation tendency, by the smooth mode of Gauss curve fitting, the influence that noise can be inhibited to estimate time delay.With true value, when GCC
It is as shown in table 2 below to prolong method comparison result:
2 algorithm performance of table compares
Data in table 2 show that in noise complexity and reverberant ambiance, method proposed by the present invention can effectively be estimated
Time delay out, and mean square error is smaller, and general cross correlation very big deviation can occur because of the influence of various noises.In conjunction with interior
Measurement and outdoor measurement, method proposed by the present invention have noise immunity and robustness.With GCC and secondary related algorithm (second
Correlation it is) reference, is estimated using multiframe signal time delay, result is as shown in Figure 9.It can by the mean square error result of Fig. 9
Know, method proposed by the present invention is significantly better than with reference to algorithm, and precision is higher, and stability is stronger.
As electronic technology, network technology, communication technology etc. are constantly fast-developing, the application based on networking penetrates into each
Field, and play an important role, and the accurate acquisition of node location information is the indispensable research class of networking application extension
Topic.In recent years, it is arranged using acoustic matrix and is used widely as the detection of the passive target of frame, studied and explore accurate time delay estimation and calculate
Method is significant to passive acoustic localization.The present invention proposes on the basis of traditional broad sense cross-correlation a kind of based on Gauss curve fitting
The thought of fitting is cleverly utilized in envelope delay estimation method, i.e., what fitting result showed is general trend, will not be because of certain
There is relatively large deviation extremely in a point, this weakens the influence of noise and smoothly makes time delay estimation more accurate.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (6)
1. a kind of Gauss curve fitting envelope delay estimation method based on broad sense cross-correlation, which is characterized in that described mutual based on broad sense
Relevant Gauss curve fitting envelope delay estimation method obtains the cross-correlation function value of signal by general cross correlation；Using segmentation
The envelope point of Maximum Approach extraction cross-correlation function；Using Gaussian function fitting envelope, using Gaussian function maximum of points as letter
Number time delay estimated value.
2. the Gauss curve fitting envelope delay estimation method based on broad sense cross-correlation as described in claim 1, which is characterized in that institute
The Gauss curve fitting envelope delay estimation method based on broad sense cross-correlation is stated to specifically include:
(1) it is segmented maximum envelope extraction；
(2) the Gauss curve fitting envelope delay estimation of GCC, n discrete data point (xi,yi) (i=1,2 ..., n), construct a height
This function g (x):
So thatObtain minimum value.
3. the Gauss curve fitting envelope delay estimation method based on broad sense cross-correlation as claimed in claim 2, which is characterized in that institute
(1) is stated to specifically include:
Step 1, data prediction
Every segment data length: d_length, every segment data: R are sets1s2(τ):d_R；
It is segmented number: N_d
If (d_R%d_length==0)
N_d=d_R/d_length
else
N_d=d_R/d_length+1
end if
Step 2, envelope extraction calculate the maximum value of each segment data and are stored in set and form initial envelope point: up_
envelope；
Step 3, threshold calculations:
Step 4 searches the data segment where the maximum value in up_envelope, is denoted as R_max, the length is d_Rm, according to threshold
Value carries out compensation data, and rule is as follows:
If R_max (i) (i=1 .., d_Rm) > threshold1；
Up_envelope=up_envelope ∪ R_max (i)；
end if
Step 5 obtains final envelope point set up_envelope.
4. the Gauss curve fitting envelope delay estimation method based on broad sense cross-correlation as claimed in claim 2, which is characterized in that institute
(2) are stated to specifically include:
Input: the signal s that sensor node receives1,s2；
Step 1 calculates R by GCC methods1s2(τ)；
Step 2 extracts envelope point: up_envelope using segmentation maximum envelope extraction method；
Step 3, using Gaussian curve, the envelope point that is extracted in fit procedure two；
Step 4 obtains time delay estimated value by searching for Gaussian curve function maxima point:
5. a kind of Gauss curve fitting envelope delay estimation method realized described in claim 1 based on broad sense cross-correlation based on broad sense
The Gauss curve fitting envelope delay estimating system of cross-correlation, which is characterized in that the Gauss curve fitting envelope based on broad sense cross-correlation
Time delay estimating system includes:
Cross-correlation function module is extracted, obtains the cross-correlation function value of signal for general cross correlation；Using segmentation maximum
The envelope point of method extraction cross-correlation function；
It is fitted envelope module, for utilizing Gaussian function fitting envelope, the time delay using Gaussian function maximum of points as signal is estimated
Evaluation.
6. a kind of Gauss curve fitting envelope delay estimation side using described in Claims 1 to 4 any one based on broad sense cross-correlation
The acoustic matrix sensor of method.
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