CN109164437B - Continuous variable decimal time delay estimation method and device for vector array popularity - Google Patents
Continuous variable decimal time delay estimation method and device for vector array popularity Download PDFInfo
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Abstract
The application discloses a continuous variable decimal time delay estimation method and device for vector array popularity, and belongs to the field of design and manufacture of underwater acoustic equipment. When the FIR time delay filter is designed, the estimation of the continuous variable fractional time delay used for the vector array popularity can be realized only by designing the unit impulse response function used for reconstructing the unit impulse response of the filter into even symmetry, so that the FIR time delay filter is very practical, easy to realize and extremely high in precision, and can be successfully applied to the engineering projects related to the multichannel digital multi-beam forming.
Description
Technical Field
The invention belongs to the field of design and manufacture of underwater acoustic equipment, and relates to a method and a device for estimating a continuous variable fractional time delay parameter for vector array popularity.
Background
The vector hydrophones can synchronously pick up the sound pressure and particle vibration velocity vectors at one point of a sound field at the same point in space, can carry out non-fuzzy orientation on a sound source in the whole space, has space directivity independent of sound wave frequency, and can know that the inherent mirror image amplitude of the original linear sound pressure array is smaller than the power of a target true position by the product theorem when a plurality of vector hydrophones are utilized to form a sonar array. Because of the cosine directivity irrelevant to the frequency, the vector array can break through the limit of half wavelength, realize the space undersampling, expand the array aperture to a certain extent, and improve the azimuth resolution and the precision.
But the mismatching of the array flow can cause the performance of beam forming to be reduced sharply, so the final performance of the sonar is directly influenced by the time delay precision.
The traditional digital time delay method comprises three methods of over-dense sampling, digital time domain interpolation and frequency domain linear phase weighting. The common principle is based on the quantization of the delay, i.e. discrete delay is used to replace continuous delay. In order to guarantee the necessary delay accuracy, oversampling or digital interpolation techniques need to be employed. Therefore, the method is realized in a time domain or a frequency domain, needs high operation amount and more hardware and software support, cannot get rid of the problem of time delay quantization fundamentally, and can only make quantization error as small as possible.
Disclosure of Invention
In order to solve the problems of the related technology, the application provides a novel continuous variable decimal time delay estimation method and a novel continuous variable decimal time delay estimation device, on the basis of integer time delay, decimal high-precision time delay is realized through an FIR digital continuous variable time delay method, the problem of time delay quantization is fundamentally solved, extremely high time delay precision is obtained at the minimum hardware cost, the vector array performance is fully released, and the use efficiency of sonar equipment is improved.
The invention approximates the delay effect to a FIR digital filter with a finite impulse response. Thus, the delay estimation problem becomes a parameter estimation problem for the FIR digital filter. The unit impulse response of the filter is adjusted, so that the signal time delay can be continuously changed.
The specific technical scheme is as follows:
in a first aspect, a continuous variable fractional delay estimation method for vector array popularity is provided, the method comprising:
acquiring signals by using a vector hydrophone, and determining a first group of time delay signals according to the acquired signals in a preset mode;
acquiring a time delay filter corresponding to the first group of time delay signals, wherein unit impulse response of the time delay filter is obtained by sampling a designed even-symmetric unit impulse response function, and a symmetry axis of the unit impulse response function is positioned at a preset time delay position;
and inputting the first group of time delay signals to the time delay filter to obtain a second group of continuously variable time delay signals.
Optionally, the obtaining a delay filter corresponding to the first group of delay signals includes:
acquiring parameter characteristics of the first group of delay signals, and selecting a delay filter corresponding to the frequency of the first group of delay signals according to the corresponding relation between the prestored parameter characteristics and the delay filter, wherein the parameter characteristics comprise the frequency;
alternatively, the first and second electrodes may be,
and calculating the time delay difference between adjacent array elements according to the incident angle of the first group of time delay signals, designing the unit impulse response function according to the time delay difference, sampling the unit impulse response function, and taking the sampled sample sequence as the unit impulse response of the time delay filter to obtain the time delay filter.
Optionally, the method further includes:
acquiring a time delay signal with specified parameter characteristics;
calculating the time delay difference between adjacent array elements according to the incident angle of the time delay signal, and designing an even-symmetric unit impulse response function by using the time delay difference, wherein the symmetry axis of the unit impulse response function is positioned at a preset time delay, and the time delay is related to the parameter characteristic of the time delay signal;
and sampling the unit impulse response function, taking the sampled sample sequence as the unit impulse response of a delay filter to obtain the delay filter corresponding to the specified delay signal with the parameter characteristics, and storing the parameter characteristics and the delay filter as a group.
Optionally, after obtaining the second set of continuously variable delay signals, the method further includes:
and subtracting the first group of time delay signals from the second group of time delay signals, and displaying the result after subtraction.
Optionally, the acquiring signals by using the vector hydrophone, and determining a first group of time delay signals according to the acquired signals in a predetermined manner includes:
acquiring signals by using the vector hydrophone, and determining signals of a designated channel, wherein the designated channel comprises a sound pressure P channel and/or a vibration velocity Vc channel;
and taking the P, P + Vc, P x Vc or (P + Vc) Vc beam signal as the first group of time delay signals.
In a second aspect, there is also provided an apparatus for continuous variable fractional delay estimation of vector array prevalence, the apparatus comprising:
the determining module is used for acquiring signals by using the vector hydrophone and determining a first group of time delay signals according to the acquired signals in a preset mode;
a first obtaining module, configured to obtain a delay filter corresponding to the first group of delay signals, where a unit impulse response of the delay filter is obtained by sampling a designed unit impulse response function of even symmetry, and a symmetry axis of the unit impulse response function is located at a predetermined delay;
and the time delay signal generation module is used for inputting the first group of time delay signals to the time delay filter to obtain a second group of continuously variable time delay signals corresponding to the channel.
Optionally, the first obtaining module includes:
the first acquisition submodule is used for acquiring the parameter characteristics of the first group of delay signals and selecting the delay filter corresponding to the frequency of the first group of delay signals according to the corresponding relation between the prestored parameter characteristics and the delay filter, wherein the parameter characteristics comprise the frequency;
alternatively, the first and second electrodes may be,
and the second acquisition submodule is used for calculating the time delay difference between adjacent array elements according to the incident angle of the first group of time delay signals, designing the unit impulse response function according to the time delay difference, sampling the unit impulse response function, and taking the sampled sample sequence as the unit impulse response of the time delay filter to obtain the time delay filter.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring the time delay signal with the specified parameter characteristics;
the setting module is used for calculating the time delay difference between adjacent array elements according to the incident angle of the time delay signal, and designing an even-symmetric unit impulse response function by using the time delay difference, wherein the symmetry axis of the unit impulse response function is positioned at a preset time delay, and the time delay is related to the parameter characteristic of the time delay signal;
and the storage module is used for sampling the unit impulse response function, taking the sampled sample sequence as the unit impulse response of the delay filter, obtaining the delay filter corresponding to the specified parameter characteristic delay signal, and storing the parameter characteristic and the delay filter as a group.
Optionally, after obtaining the second continuously variable set of delay signals corresponding to the channels, the apparatus further includes:
and the display module is used for subtracting the first group of time delay signals from the second group of time delay signals and displaying the result after subtraction.
Optionally, the determining module includes:
the first determining submodule is used for acquiring signals by using the vector hydrophone and determining signals of a specified channel, and the specified channel comprises a sound pressure P channel and/or a vibration velocity Vc channel;
a second determining submodule, configured to use the beam signal of P, P + Vc, P × Vc, or (P + Vc) × Vc determined by the first determining submodule as the first set of delay signals.
The technical scheme provided by the application can at least realize the following technical effects:
when the FIR filter is designed, the estimation of the popular continuous variable fractional time delay of the vector array can be realized only by designing the unit impulse response function for reconstructing the unit impulse response of the filter into even symmetry, so the FIR continuous variable digital time delay method is very practical, easy to realize and extremely high in precision, and can be successfully applied to the engineering projects related to multi-channel digital multi-beam forming.
The method is adopted for multi-beam forming in engineering, approximate equations can be considered to replace a sine function to reduce the computation amount, and compared with the conventional time delay method, the technical scheme provided by the application has obvious superiority in the aspects of time delay precision, computation amount, hardware and software overhead and the like.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow diagram of a method for continuous variable fractional delay estimation for vector array prevalence provided in one embodiment of the present application;
FIG. 2A is a diagram illustrating conventional integer delay reduction of FIR filters in the prior art;
FIG. 2B is a schematic diagram of the FIR high precision delay reduction provided in one embodiment of the present application;
3A-3D are graphs comparing the high precision FIR delay with conventional integer delay azimuth history provided in one embodiment of the present application;
fig. 4 is a schematic structural diagram of a continuous variable fractional delay estimation apparatus for vector array popularity provided in an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
In order to facilitate understanding of the technical solution of the present application, the following continuously variable digital delay principle is described.
The existing methods all require that the unit impulse response of the FIR filter has odd symmetry or even symmetry, and the digital time delay generated by the unit impulse response is half of the length N of the digital filter and is fixed. Such filters cannot meet the requirements of any variable digital delay.
The digital time delay new method provided by the application does not require that the discretization unit impulse response of the FIR filter meets any symmetry condition. However, the envelope of its impulse response sequence, i.e., the reconstructed continuous unit impulse response, is required to satisfy the even symmetry condition. It can be proved that, as long as the condition is satisfied, the output signal of the FIR filter has a linear phase delay relationship with the original input signal after being reconstructed.
The magnitude of the time delay depends on the position of the symmetry axis of the successive unit impulse response functions with respect to time. It has now been demonstrated that:
let the input of the system be x (t), the output be y (t), and the unit impulse response of the system be h (t). If h (t) is an even-symmetric function, the symmetry axis is located at t0At this point in time, the fourier transform h (f) of h (t) is then:
wherein t' is t-t0
As can be seen from equation (1), the FIR filter with unit impulse response h (t) is a delay filter. Its amplitude response is determined by f (f); the magnitude of the time delay introduced is determined by the position t of the axis of symmetry0And (6) determining. In practice, for a causal system, t0Is any positive real number; and the time width of h (t) defines a certain minimum delay value. According to the sampling theorem, let x (t) be a limited frequency band signal; h (t) has a low-pass or band-pass characteristic. The Fourier transform of X (t) is X (f), and if X (t) and h (t) are sampled, the sampled input signal and unit impulse response are Xs(t) and hs(t) their Fourier transform Xs(f) And Hs(f) Respectively as follows:
the above equation shows that the sampled spectral function Hs(f) And Xs(f) Both are periodic repeats of the original spectra H (f) and X (f). Their convolution Ys(f) Is the periodic repetition of the continuum y (f) (i.e., the fourier transform of y (f)). The above-described sampling process, as long as the sampling theorem is satisfied,and the original continuous signal can be reconstructed without distortion without generating frequency aliasing phenomenon.
In order to verify that the reconstructed continuous unit impulse response meets the even symmetry condition and the linear phase delay relationship between the formed continuous signal and the original input signal, the method simulates a group of delay signals for verification, and the verification process is as follows:
1) simulating input signals of all channels:
s1, designing a group of verification signals with designated parameter characteristics, designing a first unit impulse response function for verification which is even symmetrical by using the verification signals, wherein the symmetry axis of the unit impulse response function is positioned at a preset time delay, and the time delay is related to the parameter characteristics of the time delay signals;
s2, sampling the first unit impulse response function for verification, and taking the sampled sample sequence as the unit impulse response of the first time delay filter for verification to obtain the first time delay filter for verification corresponding to the time delay signal with the appointed parameter characteristic;
s3, inputting the verification signal into a first time delay filter for verification, and outputting a first group of time delay signals for verification;
2) signal processing:
s4, designing an even-symmetric second unit impulse response function for verification by utilizing the first group of time delay signals for verification, wherein the symmetry axis of the unit impulse response function is positioned at a preset time delay, and the time delay is related to the parameter characteristics of the first group of time delay signals for verification;
s5, sampling the second unit impulse response function for verification, and using the sampled sample sequence as the unit impulse response of the second delay filter for verification, to obtain a second delay filter for verification corresponding to the first group of delay signals for verification;
s6, inputting the first group of time delay signals for verification to a second time delay filter for verification, and outputting a second group of time delay signals for verification;
3) error checking
And S7, subtracting the verification signal from the second group of time delay signals for verification, and displaying the result of the subtraction.
In order to prove the linear phase delay relationship between the delay signal generated by the above steps S1-S6 and the original input signal, step S7 performs an accuracy check on the resulting delay filter.
The result obtained by subtracting the verification signal from the output delay signal after the verification signal is subjected to the integer delay of the existing filter is shown in fig. 2A, and it can be seen that the subtracted value fluctuates in a wide range of-1 to 1.
After the verification signal is subjected to the high-precision time delay of the time delay filter in step S2 and the inverse time delay filter designed in step S5, the original signal is highly restored, and the result of subtracting the original signal from the filter output signal is shown in fig. 2B, which shows that the subtracted value fluctuates around 0. It can be seen that the continuous signal formed by the delay filter reconstructed by the even-symmetric unit impulse response function has very high restoration degree.
Based on the above derivation and verification, the present application proposes a continuous variable fractional delay estimation method for vector array prevalence, which can be seen in fig. 1.
Fig. 1 is a flowchart of a continuous variable fractional delay estimation method for vector array popularity provided in one embodiment of the present application, the method comprising:
vector hydrophones can generally pick up signals of multiple vector channels, such as a sound pressure P channel, a vibration velocity Vc channel, and the like.
In practical application, the signals of each channel or the combined channel can be subjected to reverse time delay according to actual needs to obtain more accurate signals.
In one possible implementation, when the vector hydrophone is used to acquire signals and the acquired signals are used to determine the first set of time delay signals according to a predetermined manner, the vector hydrophone may be used to acquire signals and determine signals of a designated channel, where the designated channel may include at least a sound pressure P channel and a vibration velocity Vc channel.
Then, P, P + Vc, P × Vc, or (P + Vc) × Vc beam signals are used as the first set of delay signals as needed.
102, acquiring a time delay filter corresponding to a first group of time delay signals, wherein unit impulse response of the time delay filter is obtained by sampling a designed even-symmetric unit impulse response function;
the symmetry axis of the unit impulse response function is located at a predetermined time delay t0To (3).
In practical applications, the delay filter to which the delayed signal corresponds is usually related to a parameter characteristic of the delayed signal, such as the frequency of the delayed signal. Therefore, in order to improve the processing efficiency of the signal, the delay filter corresponding to various parameter characteristics may be designed in advance, and then the parameter characteristics and the delay filter are stored correspondingly.
In a possible implementation manner, the correspondingly stored procedure may include:
firstly, acquiring a time delay signal with specified parameter characteristics;
secondly, calculating the time delay difference between adjacent array elements according to the incident angle of the time delay signal, designing an even-symmetric unit impulse response function by using the time delay difference, wherein the symmetry axis of the unit impulse response function is positioned at a preset time delay t0The time delay is related to the parameter characteristics of the time delay signal;
and thirdly, sampling the unit impulse response function, taking the sampled sample sequence as the unit impulse response of the delay filter, obtaining the delay filter corresponding to the delay signal with the specified parameter characteristics, and storing the parameter characteristics and the delay filter as a group.
In this way, when the delay filter corresponding to the first group of delay signals is obtained, the parameter characteristics of the first group of delay signals are obtained first, and the delay filter corresponding to the frequency of the first group of delay signals is selected according to the corresponding relationship between the pre-stored parameter characteristics and the delay filter.
Obviously, in other implementation manners, the delay filter may also be designed in real time according to the first group of delay signals, and at this time, when the delay filter corresponding to the first group of delay signals is obtained, the delay difference between adjacent array elements may be calculated according to the incident angle of the first group of delay signals, where the delay difference is usually related to the frequency of the first group of delay signals; and then designing the unit impulse response function according to the time delay difference, sampling the unit impulse response function, and taking the sampled sample sequence as the unit impulse response of the time delay filter to obtain the time delay filter.
And 103, inputting the first group of time delay signals to a time delay filter to obtain a continuously variable second group of time delay signals.
In order to verify the delay effect of the second set of delay signals, the first set of delay signals may be subtracted from the second set of delay signals, and the result of the subtraction may be displayed.
For example, when the signal selected in step 101 is a signal of a P channel, the signal of the P channel is used as a first group of delay signals, a filter which meets the above condition and corresponds to the first group of delay signals is determined according to step 102, the first group of delay signals is input to the filter, the filter outputs a second group of delay signals, and in order to determine an effect, the second group of delay signals is subtracted from the first group of delay signals, as shown in fig. 3A, the left side is an effect of subtracting the delay signal generated by the existing FIR filter from the signal input to the FIR filter, and the right side is an effect of subtracting the first group of delay signals from the second group of delay signals corresponding to the signal of the P channel in this application.
In order to fully illustrate the advantage of the present application over the delay filtering of the existing FIR filter, the delay of the beam signal of P + Vc, P × Vc, or (P + Vc) × Vc is verified in a similar manner, and the comparison graphs with the conventional integer delay are shown in fig. 3B, fig. 3C, and fig. 3D, respectively. As can be seen from fig. 3A to 3D, the actual effect of the FIR high-precision delay provided by the present application is superior to that of the conventional integer delay, and it can be seen that the trajectory is clear after the high-precision delay, the beam is focused, the clutter is less, the weak target detection effect is significantly improved, and the sonar detection performance is significantly improved. And from the display of the beam forming azimuth process, (P + Vc) × Vc has the best effect, and image rejection, weak target detection and resolution are better than other combinations.
In summary, the method for estimating the continuous variable fractional time delay for the vector array popularity provided by the present application, through the FIR continuous variable digital time delay method introduced by the present application, when designing the FIR filter, only the unit impulse response function for reconstructing the unit impulse response of the filter needs to be designed to be even symmetry, so that the estimation of the continuous variable fractional time delay for the vector array popularity can be realized, and the method is very practical, easy to implement, and extremely high in precision, and can be successfully applied to the engineering project related to the multi-channel digital multi-beam forming.
The method is adopted for multi-beam forming in engineering, approximate equations can be considered to replace a sine function to reduce the computation amount, and compared with the conventional time delay method, the technical scheme provided by the application has obvious superiority in the aspects of time delay precision, computation amount, hardware and software overhead and the like.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.
Fig. 4 is a schematic structural diagram of a continuous variable fractional delay estimation apparatus for vector array popularity provided in an embodiment of the present application, where the apparatus is implemented by software, hardware, or a combination of software and hardware, and at least includes: a determination module 410, a first acquisition module 420, and a delayed signal generation module 430.
The determining module 410 may be configured to acquire signals using a vector hydrophone, and determine a first set of time-delayed signals from the acquired signals according to a predetermined manner;
the first obtaining module 420 may be configured to obtain a delay filter corresponding to the first group of delay signals, where a unit impulse response of the delay filter is obtained by sampling a designed unit impulse response function with even symmetry, and a symmetry axis of the unit impulse response function is located at a predetermined delay;
the delayed signal generating module 430 may be configured to input the first set of delayed signals determined by the determining module 410 to the delay filter acquired by the first acquiring module 420, so as to obtain a second set of continuously variable delayed signals.
In one possible implementation, the first obtaining module 420 includes: a first acquisition submodule or a second acquisition submodule.
The first acquisition submodule is used for acquiring the parameter characteristics of the first group of delay signals and selecting the delay filter corresponding to the frequency of the first group of delay signals according to the corresponding relation between the prestored parameter characteristics and the delay filter, wherein the parameter characteristics comprise the frequency;
alternatively, the first and second electrodes may be,
and the second acquisition submodule is used for calculating the time delay difference between adjacent array elements according to the incident angle of the first group of time delay signals, designing the unit impulse response function according to the time delay difference, sampling the unit impulse response function, and taking the sampled sample sequence as the unit impulse response of the time delay filter to obtain the time delay filter.
In one possible implementation, the apparatus may further include: the device comprises a second acquisition module, a setting module and a storage module.
The second acquisition module is used for acquiring the time delay signal with the specified parameter characteristics;
the setting module may be configured to calculate a delay difference between adjacent array elements according to an incident angle of the delay signal, and design an even-symmetric unit impulse response function using the delay difference, where a symmetry axis of the unit impulse response function is located at a predetermined delay, and the delay is related to a parameter characteristic of the delay signal;
the storage module may be configured to sample the unit impulse response function, use the sampled sample sequence as a unit impulse response of a delay filter, obtain a delay filter corresponding to the specified parameter characteristic delay signal, and store the parameter characteristic and the delay filter as a group.
In a possible implementation manner, after obtaining the second set of continuously variable delay signals corresponding to the channels, the apparatus may further include: and a display module.
The display module may be configured to subtract the first set of time-delayed signals from the second set of time-delayed signals, and display a result of the subtraction.
In one possible implementation, the determining module may include: a first determination submodule and a second determination submodule.
The first determining sub-module can be used for acquiring signals by using the vector hydrophone and determining signals of specified channels, wherein the specified channels comprise a sound pressure P channel and/or a vibration velocity Vc channel;
the second determining submodule may be configured to use the beam signal of P, P + Vc, P × Vc, or (P + Vc) × Vc determined by the first determining submodule as the first set of time-delayed signals.
In summary, the device for estimating the time delay of the continuously variable decimal for the vector array popularity, provided by the application, through the FIR continuously variable digital time delay method introduced by the application, when designing the FIR filter, the estimation of the time delay of the continuously variable decimal for the vector array popularity can be realized only by designing the unit impulse response function for reconstructing the unit impulse response of the filter into even symmetry, and the device is very practical, easy to implement, and extremely high in precision, and can be successfully applied to the engineering projects related to the multi-channel digital multi-beam forming.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. A method for continuous variable fractional delay estimation of vector array prevalence, the method comprising:
acquiring signals by using a vector hydrophone, and determining a first group of time delay signals according to the acquired signals in a preset mode;
acquiring a time delay filter corresponding to the first group of time delay signals, wherein unit impulse response of the time delay filter is obtained by sampling a designed even-symmetric unit impulse response function, and a symmetry axis of the unit impulse response function is positioned at a preset time delay position;
and inputting the first group of time delay signals to the time delay filter to obtain a second group of continuously variable time delay signals.
2. The method of claim 1, wherein obtaining the delay filter corresponding to the first set of delayed signals comprises:
acquiring parameter characteristics of the first group of delay signals, and selecting a delay filter corresponding to the frequency of the first group of delay signals according to the corresponding relation between the prestored parameter characteristics and the delay filter, wherein the parameter characteristics comprise the frequency;
alternatively, the first and second electrodes may be,
and calculating the time delay difference between adjacent array elements according to the incident angle of the first group of time delay signals, designing the unit impulse response function according to the time delay difference, sampling the unit impulse response function, and taking the sampled sample sequence as the unit impulse response of the time delay filter to obtain the time delay filter.
3. The method of claim 2, further comprising:
acquiring a time delay signal with specified parameter characteristics;
calculating the time delay difference between adjacent array elements according to the incident angle of the time delay signal, and designing an even-symmetric unit impulse response function by using the time delay difference, wherein the symmetry axis of the unit impulse response function is positioned at a preset time delay, and the time delay is related to the parameter characteristic of the time delay signal;
and sampling the unit impulse response function, taking the sampled sample sequence as the unit impulse response of a delay filter to obtain the delay filter corresponding to the specified delay signal with the parameter characteristics, and storing the parameter characteristics and the delay filter as a group.
4. A method according to any of claims 1-3, wherein after said deriving a second set of continuously variable time delayed signals, the method further comprises:
and subtracting the first group of time delay signals from the second group of time delay signals, and displaying the result after subtraction.
5. The method of claim 4, wherein the acquiring signals with the vector hydrophone and determining a first set of time delayed signals from the acquired signals in a predetermined manner comprises:
acquiring signals by using the vector hydrophone, and determining signals of a designated channel, wherein the designated channel comprises a sound pressure P channel and/or a vibration velocity Vc channel;
and taking the beam signal of any one of P, P + Vc, P + Vc or (P + Vc) Vc as the first group of time delay signals.
6. An apparatus for continuous variable fractional delay estimation of vector array prevalence, the apparatus comprising:
the determining module is used for acquiring signals by using the vector hydrophone and determining a first group of time delay signals according to the acquired signals in a preset mode;
a first obtaining module, configured to obtain a delay filter corresponding to the first group of delay signals, where a unit impulse response of the delay filter is obtained by sampling a designed unit impulse response function of even symmetry, and a symmetry axis of the unit impulse response function is located at a predetermined delay;
and the time delay signal generation module is used for inputting the first group of time delay signals to the time delay filter to obtain a second group of continuously variable time delay signals.
7. The apparatus of claim 6, wherein the first obtaining module comprises:
the first acquisition submodule is used for acquiring the parameter characteristics of the first group of delay signals and selecting the delay filter corresponding to the frequency of the first group of delay signals according to the corresponding relation between the prestored parameter characteristics and the delay filter, wherein the parameter characteristics comprise the frequency;
alternatively, the first and second electrodes may be,
and the second acquisition submodule is used for calculating the time delay difference between adjacent array elements according to the incident angle of the first group of time delay signals, designing the unit impulse response function according to the time delay difference, sampling the unit impulse response function, and taking the sampled sample sequence as the unit impulse response of the time delay filter to obtain the time delay filter.
8. The apparatus of claim 7, further comprising:
the second acquisition module is used for acquiring the time delay signal with the specified parameter characteristics;
the setting module is used for calculating the time delay difference between adjacent array elements according to the incident angle of the time delay signal, and designing an even-symmetric unit impulse response function by using the time delay difference, wherein the symmetry axis of the unit impulse response function is positioned at a preset time delay, and the time delay is related to the parameter characteristic of the time delay signal;
and the storage module is used for sampling the unit impulse response function, taking the sampled sample sequence as the unit impulse response of the delay filter, obtaining the delay filter corresponding to the specified parameter characteristic delay signal, and storing the parameter characteristic and the delay filter as a group.
9. The apparatus according to any of claims 6-8, wherein after obtaining the second set of continuously variable time delay signals corresponding to the channels, the apparatus further comprises:
and the display module is used for subtracting the first group of time delay signals from the second group of time delay signals and displaying the result after subtraction.
10. The apparatus of claim 9, wherein the determining module comprises:
the first determining submodule is used for acquiring signals by using the vector hydrophone and determining signals of a specified channel, and the specified channel comprises a sound pressure P channel and/or a vibration velocity Vc channel;
a second determining submodule, configured to use the beam signal of any one of P, P + Vc, P × Vc, or (P + Vc) × Vc determined by the first determining submodule as the first set of delay signals.
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| EP1458097A1 (en) * | 2003-03-11 | 2004-09-15 | Sony International (Europe) GmbH | Arbitrary sampling rate conversion |
| CN105676168A (en) * | 2015-12-02 | 2016-06-15 | 江苏科技大学 | Acoustic vector array DOA estimation method |
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