CN109061612B - Novel sparse circular truncated cone array shallow water area combined search method - Google Patents
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Abstract
A novel sparse circular truncated cone array shallow water area combined search method relates to the technical field of sonar matrixes. The invention firstly establishes a global space rectangular coordinate system based on a circular array, and introduces a pitch angle theta and an azimuth angle
Setting position distribution parameters of each array element in a global coordinate system, and arranging a circular ring array; carrying out sparsification treatment on each layer of circular array to construct a novel sparsified multilayer circular array; calculating the phase difference of the received signals of each array element relative to the reference point O, and performing phase control compensation and beam forming on each array element of the novel circular array; utilizing the novel circular array and the bus array of each layer to perform fusion combination search in the vertical direction; and changing parameters such as the number of layers, the height, the bus slope and the like of the novel circular table array to obtain an optimized search area range and a search target result. The shallow sea submarine three-dimensional circular truncated cone acoustic array has the advantages of being good in top end searching range, saving array arrangement cost, resisting submarine incoming interference and the like, and has good application prospects.
Description
Technical Field
The invention relates to the technical field of sonar basic arrays, in particular to a novel sparse circular truncated cone array shallow water area combined search method.
Background
With the increasing severity of ocean rights and safety forms, the underwater early warning requirements of riverway ports are increased, the traditional planar array monitoring platform cannot meet the actual requirements, and a novel sparse circular truncated cone array shallow water area combined search method is developed.
The search range of the top half space of the traditional circular array is very limited, and meanwhile, the method has the defects of high beam sidelobe level and the like, and has attracted wide attention of researchers on how to improve the search range of the top half space of the traditional circular array. In recent years, the research of the traditional planar array gradually turns to the research of the volume array, and how to put forward two circular truncated cone array distribution modes of symmetrical distribution of each array element and spiral distribution of each array element in the circular truncated cone array antenna direction performance analysis, but the two traditional circular truncated cone volume array element distribution modes have the defect that the space between the array elements is reduced along with the radius and the space sampling theorem is not satisfied. Still other underwater platforms are used by sinking or suspending in water, and under shallow sea conditions, the underwater platforms have little search requirement on the seabed and can be interfered by signals coming from the seabed, so that the top half-space search performance of the underwater platforms is influenced. In summary, the conventional circular array has the defect of a small vertical search range; in the traditional volume array, each layer of array elements is redundant, the array is complex to arrange, and the energy consumption is high; shallow sea submersible platforms are susceptible to interference from incoming signals from the sea floor.
Disclosure of Invention
The invention aims to overcome the following defects: the traditional circular array has the defect of small searching range in the vertical direction at present; in the traditional volume array, each layer of array elements is redundant, the array is complex to arrange, and the energy consumption is high; the shallow sea bottom platform is easy to be interfered by signals from the sea bottom. The invention provides a novel sparse circular truncated cone array shallow water area combined search method which is simple in arraying, can effectively enlarge the top half-space search range and effectively inhibit the interference of seabed incoming signals.
A novel sparse circular truncated cone array shallow water area combined search method comprises the following steps:
step 1: establishing a global space rectangular coordinate system O-XYZ, laying a novel sparse multilayer circular array, acquiring the position distribution of each array element of the circular array in the global space rectangular coordinate system, and receiving a signal from a search target;
the novel sparse multilayer circular array is a three-dimensional array formed by stacking M layers of circular arrays with different radiuses, the radiuses of the circular arrays from bottom to top are sequentially reduced, and the array element interval of the lowest layer of circular array is the half-wavelength lambda/2 of a received signal; interlayer spacing of novel sparse multilayer circular arrayFor receiving the half-wavelength lambda/2 of the signal, the height of each layer is h 1 ,h 2 ,h 3 …h M Number of array elements of each layer N m Is composed of
r m The radius of the circle array of the mth layer is shown, M =1,2, \8230;
when the novel sparse multilayer circular array is laid, the circle center of the bottommost circular array is laid at the original point O of a global space rectangular coordinate system O-XYZ, so that the Z axis points to the position right above the circular array; the position distribution of each array element in the global space rectangular coordinate system refers to the column coordinate of each array element in the global space rectangular coordinate system; the column coordinate of the nth array element in the mth layer is expressed as
Step 2: acquiring a received signal phase difference of each array element in the novel sparse multilayer circular array relative to a reference point O, and performing phased compensation and beam forming on each array element of the novel sparse multilayer circular array to obtain a spatial filtering result of each layer of circular array and side bus array of the novel circular array;
when m =1 represents the bottom circle, the phase difference of the array element n on the bottom circle relative to the reference point O is:
when M =2,3 \8230M, the phase difference of the array element n on each circular ring relative to the reference point O is as follows:
therefore, the total array pattern function formed by all array elements on all m circular arrays with different radii is:
wherein, theta m ＝tg -1 (r m /h m )；ψ mn The initial phase difference of the nth array element in the mth layer is obtained;
in order to direct the main beam at a selected direction
The directions are as follows:
the directional diagram function of the corresponding symmetric distributed circular array is:
and step 3: carrying out decision-level fusion combination search in the vertical direction by utilizing the ring arrays and the bus arrays of each layer of the novel sparse multilayer circular array to obtain a search area range and a search target result;
the decision-level fusion combination search specifically comprises the following steps: when the target comes to the direction theta 0 ∈[0°,45°]The range, each layer of circular ring array of the novel sparse multilayer circular platform array is utilized to search and output the target, and whether the target exists or not is judged; when the target comes to the direction theta 0 ∈[45°,90°]The method comprises the following steps of (1) carrying out search output on a target by utilizing a novel sparse multilayer circular array side bus array, and judging whether the target exists or not; when the target comes to the direction theta 0 ∈[45°,60°]When the two search overlapping areas belong to, searching, outputting, fusing and judging whether a target exists or not for the two arrays;
and 4, step 4: the number of layers, the height and the bus slope of the novel sparse circular truncated cone array are changed, the array type parameter change is obtained, the semi-space search range of the top end of the underwater platform and the seabed incoming interference suppression are achieved, and the optimized search area range and the search target result are obtained.
The invention has the beneficial effects that:
1. the invention provides a novel sparse circular truncated cone array shallow water area combined search method, which effectively expands the search range of the top half space of a three-dimensional array based on fused combined search array processing.
2. The traditional circular array is in the same symmetrical distribution of each layer of array elements or in the spiral distribution of different layers of array elements in a staggered certain angle mode, the situation that the distance between the array elements does not meet the half wavelength condition along with the reduction of the radius is faced.
3. Some underwater platforms are used by sinking to the sea bottom or suspending in water, and under shallow sea conditions, the underwater platforms have little search requirement on the sea bottom and can be interfered by signals coming from the sea bottom, so that the top half-space search performance of the underwater platforms is influenced. The novel processing method for the circular array fusion combined search array effectively inhibits the seabed incoming interference and improves the top half-space search stability.
Drawings
FIG. 1 is a flow chart of a novel sparse circular truncated cone array shallow water area combined search method;
FIG. 2 is a schematic diagram of a circular array three-dimensional array formed after array element thinning processing;
fig. 3 (a) is a ring array diagram for a 60 ° target incoming beam diagram, and fig. 3 (b) is a diagram for a three-layer novel circular table array diagram for a 60 ° target incoming beam diagram;
FIG. 4 is a graph of complementary angle bottom suppression effect for different incident signal sources;
fig. 5 is a schematic diagram of the effect of suppressing the incoming interference of the thinned novel circular array seabed.
Detailed Description
The invention will be further elucidated with reference to the drawing.
With reference to fig. 1, the present invention comprises the following steps:
(1) Establishing a global space rectangular coordinate system corresponding to the circular table array, and introducing a pitch angle theta and an azimuth angle
Setting position distribution parameters of each array element in a global coordinate system, and arranging a circular array;
(2) Thinning each layer of circular array, constructing a novel thinned multilayer circular array, and drawing a novel circular array type diagram with the number of layers from 5 to 10;
(3) Obtaining the phase difference of the received signals of each array element relative to a reference point O, performing phased compensation and beam forming on each array element of the novel circular array, and respectively obtaining the spatial filtering results of each layer of circular array and side bus array of the novel circular array;
(4) According to the result of the step (3), the novel circular array and the bus array of each layer are used for fusion and combination search in the vertical direction, and a search area range and a search target result are obtained in the aspects of signal level, parameter level and decision level;
(5) Parameters such as the number of layers, the height and the bus slope of the novel circular platform array are changed, the array type parameter change is obtained, the semi-space search range of the top end of the underwater platform and the seabed incoming interference suppression are achieved, and the optimized search area range and the search target result are obtained.
The circular array is a three-dimensional array formed by stacking a plurality of layers of circular arrays with different radiuses R, the radius of the circular array is reduced from bottom to top in sequence with a large circular array under the circular array, the number of the array elements of each layer is the same as N, the distance between the array elements of the lowest layer (the maximum circular array) meets half-wavelength lambda/2, the distance between the layers also meets half-wavelength lambda/2, and the heights of the layers are h in sequence 1 ,h 2 ,h 3 …h M The number of layers is M; the global coordinate system takes the circle center of the bottommost layer circular array as a coordinate origin O, and the Z axis points to an O-XYZ coordinate system right above the top of the circular table; the position distribution of each array element in the global coordinate system refers to the cylindrical coordinates of each array element in the global coordinate system. To study the circular array, first, a uniform circular array is studied, taking the reference point O plane circular array as an example: and N isotropic array elements form a uniform circular array on a circumference with the radius of r. The origin O of the coordinate system is the center of a circle, and the included angle between the connecting line between the nth array element and the center of the circle and the X axis is gamma n =2 π N/N, the position vector of which is expressed as
Similarly, the coordinates of the nth array element of the mth layer are expressed as
Wherein r is m Is the radius of the mth layer of circular ring array, and the included angle between the connecting line between the nth array element and the circle center and the X axis is
Let m =1 get the bottommost ring array of the circular array, according to
Sequentially showing array elements of layer 1 circular array, and changing the radius r of layer 2 and layer 3' 8230 m And height h m Drawing a circular array of any layer, and finally realizing the three-dimensional construction of a circular truncated cone array of any layer, wherein the number of array elements contained in each layer of circular array is the same, and the radius is linearly reduced so as to ensure that a three-dimensional array bus is a straight line as the circular truncated cone array; the information source considers that the far field condition is met, the plane wave is incident to each array element, the position of the information source in the global coordinate system refers to the spherical coordinate of the information source in the global coordinate system, and the arrival vector is the arrival vector of the information source relative to the reference point O
Wherein theta,
The pitch angle theta epsilon (0, pi) is defined as the included angle between the z axis and the incident direction, and the azimuth angle
Is the angle projected onto the array plane from the x-axis in a counter-clockwise direction to the direction of signal incidence.
Considering that the number of the array elements of each layer is the same, the step (1) can know that the distance between the array elements of the bottommost layer circular array meets half wavelength, which inevitably leads to the premise that the number of the array elements is unchanged along with the reduction of the radiusThe array element spacing is inevitably reduced, so that the requirement that the space sampling theorem is not met, namely the array element spacing is not met with the half wavelength is not met, a new idea is provided in the invention, namely the number of the corresponding array elements is determined according to the radius change of each layer of circular array on the premise of the half wavelength of the array element spacing, and the following description is combined with a specific case: narrow-band signal frequency f =15kHz, sound velocity c =1500m/s, and wavelength
The array element spacing half wavelength lambda/2 =0.05m, the number of circular table array layers m =5, and the radius of the circular array at the minimum layer is set to be the half wavelength 0.05m, so that the radius r of the circular array at each layer of the circular table array m Sequentially is 0.5 lambda, 1.5 lambda, 2 lambda and 2.5 lambda, and the number N of array elements of each layer m The determination method comprises the following steps:
the array element is thinned to form a circular truncated cone array type, and the number of layers is 5 to 10, as shown in figure 2.
Let A be a certain array element on the mth layer of circular array, and the radius of circular array is r m The height of the circular array from the bottom surface is h m The vector of reference points O to A is
Having an azimuth angle of
Angle of pitch theta m ＝tg -1 (r m /h m ) Vector of motion
Has the coordinates of
Distance from array element A to center of circle of lower bottom surface
The unit vector of the reference point O to the far field target direction is
Having coordinates of
At the same time, the phase difference between the reference point O and the signal envelope received by the array element a is:
where k is the wavenumber, k =2 π/λ, λ is the signal wavelength, for the above-mentioned phase difference
Expression (2)
When m =1 denotes a bottom surface circle, h is the same 1 ＝0,r m ＝r 1 ,θ m And =2 pi, the phase difference of the array element n on the bottom ring relative to the reference point O is:
when M =2,3 \8230M, the phase difference of the array element n on each circular ring relative to the reference point O is as follows:
therefore, the total array pattern function formed by all array elements on all m circular arrays with different radii is:
wherein psi mn For initial phase difference of corresponding array elements, selected for directing main beam
The directions are as follows:
then the directional diagram function of the corresponding symmetric distribution circular array:
in order to test the pitch angle search range of the circular array and the circular truncated cone array, a plurality of groups of information sources are selected for directional analysis, as shown in figure 3, when the horizontal azimuth angle of the information sources is fixed and only the vertical pitch angle is changed, the circular array is theta 0 When the angle is 60 ° or more, the main lobe beam width is extremely wide, and a beam can hardly be formed, so that spatial directivity is not considered to be present. By using the novel circular table array fusion combination search (signal level, parameter level and decision level), only 3 layers of novel circular table arrays can realize half space [0 degree, 90 degrees ]]The search range of (2). Further explanation is made for the fused combinatorial search: the fusion combination firstly refers to the fusion of output beam information of each layer of circular ring array and side bus array during spatial filtering and target searching, and secondly, the combination of different layers of circular ring arrays and different side bus arrays on different search area ranges on the target search results of the overlapped area, and the fusion combination process is rich and meaningful. In the following, the decision-level fusion combinatorial search is further explained: when the target comes to the direction theta 0 ∈[0°,45°]The range, the target is searched and output by utilizing each layer of circular ring array of the novel circular array, and whether the target exists or not is judged; similarly, when the target comes to the direction theta 0 ∈[45°,90°]The range, the novel circular array side bus array is used for searching and outputting the target, and whether the target exists or not is judged; when the target comes to the direction theta 0 ∈[45°,60°]And when the two search overlapping areas belong to, searching, outputting, fusing and judging whether the target exists or not for the two arrays. The signal level and parameter level fused combined search is not listed here, and is still protected by the invention of the patent.
Selecting the incoming direction of the source as theta 0 ＝[30°,45°,60°]The number of the novel circular table array layers is changed from 5 layers to 10 layers, the array element interval meets the half-wavelength, and each layer of circular ringsThe array radius is linearly increased, the distance between the circular arrays of each layer also meets the half wavelength, and the parameters such as the number of layers, the height, the bus slope and the like of the novel circular array are changed according to the parameter setting requirements. As can be seen from fig. 4, when the number of the array elements is the same, the suppression effect in the 120 ° interference direction (i.e., in the 60 ° direction of the source) is the best; when the number of the array element layers is increased, the suppression effect of the source arrival signals of 30 degrees, 45 degrees and 60 degrees to the bottom end of the signals is enhanced, and the suppression effect of the source arrival signals of 30 degrees to the bottom end is most obvious along with the change of the number of the array element layers.
Selecting theta 0 And the angle of 45 degrees is the incident direction of an information source, and parameters such as the number of layers, the height and the bus slope of the novel circular array are changed, wherein the narrow-band signal frequency f =15kHz, and the sound velocity c =1500m/s. As can be seen from fig. 5, the thinned novel circular truncated cone array seabed comes to have a significant interference suppression effect.
The invention has the beneficial effects that:
1. the invention provides a novel sparse circular truncated cone array shallow water area combined search method, which effectively expands the search range of the top half space of a three-dimensional array based on fused combined search array processing.
2. The traditional circular array is distributed in a symmetrical mode with the same number of array elements of each layer or in a spiral mode with different layers of array elements staggered by a certain angle, the situation that the distance between the array elements does not meet the half-wavelength condition along with the reduction of the radius is faced.
3. Some underwater platforms are used by sinking to the sea bottom or suspending in water, and under shallow sea conditions, the underwater platforms have little search requirement on the sea bottom and can be interfered by signals coming from the sea bottom, so that the top half-space search performance of the underwater platforms is influenced. The novel processing method for the circular array fusion combined search array effectively inhibits the seabed incoming interference and improves the top half-space search stability.
Claims (1)
1. A novel sparse circular truncated cone array shallow water area combined search method is characterized by comprising the following steps:
step 1: establishing a global space rectangular coordinate system O-XYZ, laying a novel sparse multilayer circular array, acquiring the position distribution of each array element of the circular array in the global space rectangular coordinate system, and receiving a signal from a search target;
the novel sparse multilayer circular array is a three-dimensional array formed by stacking M layers of circular arrays with different radiuses, the radiuses of the circular arrays from bottom to top are sequentially reduced, and the array element interval of the lowest layer of circular array is the half-wavelength lambda/2 of a received signal; the interlayer spacing of the novel sparse multilayer circular array is half wavelength lambda/2 of a received signal, and the heights of all layers are h in sequence 1 ,h 2 ,h 3 …h M Number of array elements of each layer N m Is composed of
r m Represents the radius of the circle array of the mth layer, M =1,2, \ 8230;, M;
when the novel sparse multilayer circular array is laid, the circle center of the bottommost circular array is laid at the original point O of a global space rectangular coordinate system O-XYZ, so that the Z axis points to the position right above the circular array; the position distribution of each array element in the global space rectangular coordinate system refers to the column coordinate of each array element in the global space rectangular coordinate system; the column coordinate of the nth array element in the mth layer is expressed as
And 2, step: acquiring a received signal phase difference of each array element in the novel sparse multilayer circular truncated cone array relative to a reference point O, and performing phased compensation and beam forming on each array element of the novel sparse multilayer circular truncated cone array to obtain a spatial filtering result of each layer of circular ring array and a side bus array of the novel circular truncated cone array;
when m =1 represents a bottom ring, the phase difference of the array element n on the bottom ring relative to the reference point O is:
wherein the pitch angle theta epsilon (0, pi) is defined as the included angle between the Z axis and the incident direction; azimuth angle
Is the angle projected on the array plane from the X-axis along the counterclockwise direction to the signal incidence direction;
when M =2,3 \8230M, the phase difference of the array element n on each circular ring relative to the reference point O is as follows:
therefore, the total array directional diagram function formed by all array elements on all the M circular arrays with different radii is as follows:
wherein, theta m ＝tg -1 (r m /h m )；ψ mn The initial phase difference of the nth array element in the mth layer is obtained;
for directing main beam at a selected direction
The directions are as follows:
the directional diagram function of the corresponding symmetric distributed circular array is:
and 3, step 3: carrying out decision-level fusion combination search in the vertical direction by utilizing the ring arrays and the bus arrays of each layer of the novel sparse multilayer circular array to obtain a search area range and a search target result;
the decision-level fusion combination search specifically comprises the following steps: when the target comes to the direction theta 0 ∈[0°,45°]The range, the novel sparse multilayer circular array is utilized to search and output the target by each layer of circular array, and whether the target exists or not is judged; when the target comes to the direction theta 0 ∈[45°,90°]The range, the novel sparse multilayer circular array side bus array is utilized to search and output the target, and whether the target exists or not is judged; when the target comes to the direction theta 0 ∈[45°,60°]When the two search overlapping areas belong to, searching the two arrays, outputting fused judgment targets;
and 4, step 4: the number of layers, the height and the bus slope of the novel sparse circular truncated cone array are changed, the array parameter change is obtained, the semi-space search range of the top end of the underwater platform and the seabed incoming interference suppression are achieved, and the optimized search area range and the search target result are obtained.
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