CN109239712A - The noise detection method that can be flowed based on underwater sound field harmony - Google Patents
The noise detection method that can be flowed based on underwater sound field harmony Download PDFInfo
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- CN109239712A CN109239712A CN201810821205.4A CN201810821205A CN109239712A CN 109239712 A CN109239712 A CN 109239712A CN 201810821205 A CN201810821205 A CN 201810821205A CN 109239712 A CN109239712 A CN 109239712A
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
- G01S7/536—Extracting wanted echo signals
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention belongs to Underwater Detection field, the noise detection method that can be flowed based on underwater sound field harmony is disclosed, is comprised the following steps: step (1): established detection battle array, carry out Wave beam forming；Step (2): noise field covariance is obtained, and calculates acoustics visibility；Step (3): power spectrum detection；Step (4): acoustic energy flow is obtained；Step (5): synthesis has decided whether target appearance.The present invention judges that target whether there is using ambient noise as driving source, when there is target to enter sound field, sound field environment can change the scattering properties of target surface, to determine whether target appearance, so that the method concealment in the present invention is strong, the survival ability of submarine target is improved.
Description
Technical field
The invention belongs to Underwater Detection fields, more particularly to the noise detection method that can be flowed based on underwater sound field harmony.
Background technique
Sonar is the transliteration of english abbreviation " SONAR ", Chinese name are as follows: sound navigation and ranging,
SoundNavigationAndRanging is a kind of using the underwater propagation characteristic of sound wave, at electroacoustic conversion and information
Reason completes the electronic equipment of undersea detection and communication task.It has active and passive type two types, belongs to acoustics positioning
Scope.Sonar is the electronic equipment for being detected, being positioned and being communicated to submarine target using underwater acoustic wave, is in marine acoustics
A kind of most widely used, most important device.
As a kind of acoustic sounding equipment, active sonar is to come into operation first in Britain, but Englishman is this
Kind equipment is known as " ASDIC ", and American is called " SONAR ", and Englishman also received this call later.Since electromagnetic wave exists
The rate to decay in water is very high, can not be as the signal source of detecting, therefore with the culture of acoustic detection underwater
As with widest means.Either submarine either water surface ship, all utilizes the flavor of this technology, detection
Object under water-bed, or using it as the foundation of navigation.Make the form of energy transmitted at a distance.Then underwater mesh is detected
Target technology --- sonar technology is just come into being.Sonar technology has 100 years history so far, it is 1906 by Britain sea
Lewis Nickerson of army is invented.First sonar instrument that he invents is a kind of listening device of passive type, is mainly used to
Detect iceberg.This technology is applied on battlefield when to the World War I, is hidden for detecting in water-bed diving
Ship.Sonar is the major technique that naval of various countries carries out that undersea surveillance uses, for being detected, being classified to submarine target, positioned
And tracking；Subsurface communication and navigation are carried out, ensures tactical maneuver and the underwater weapon of naval vessels, antisubmarine aircraft and anti-submarine helicopter
Use.In addition, sonar technology is also widely used in torpedo guidance, sea mine fuze and the locating fish, offshore oil drilling, ship
Oceangoing ship navigation, underwater operation, hydrographic survey and exploration of submarine geology and geomorphology etc..As the development of many science and technology, society
The progress of needs and science and technology promote the development of sonar technology.Russian navy specially changes a nucleon K-403 submarine
At sonar test ship, it is seen that its attention degree.
In traditional Underwater Detection field, ambient noise is considered as a kind of interference, and in utilization ambient noise to target
In the theory detected, noise is taken as useful information.In shallow sea, noise source level with higher, and due to sea and
The reflex in seabed and the acoustic propagation multipath effect formed, Seawater uneven and the random scatter generated and water
The uncertainty etc. of lower sounding biological motion, so that there is a large amount of random incoherent noises in neritic environment.These
Noise influences whether that sonar receives the integrality of information, therefore the ambient noise for traditional actively or passively formula sonar
Be it is unwanted, need to inhibit.But these a large amount of random incoherent noises are for assigning ambient sea noise as excitation
It is advantageous, is desirable to for the noise detection system in source.Because ambient sea noise spy can be enhanced in these noises
The performance of examining system is allowed to that more easily target is detected and is imaged.Compared with active sonar, ambient noise pair is utilized
The system that target is detected and is imaged does not emit sound wave, therefore is not easy to stick one's chin out, concealment with higher；With quilt
Dynamic formula sonar is compared, and the interested signal of system is target to any time in ocean, all existing ambient noise in any sea area
Scattered signal, therefore the target of calm type or itself not sounding can be detected.
In deep-marine-environment, the propagation of sound wave without the concern for sea and seabed influence, and in shallow water environment,
The presence in sea and seabed can generate large effect for the target in shallow sea to the propagation of sound wave, scattering properties also by
In sea and seabed influence and make that larger change occurs with the scattering properties of target in deep-marine-environment.More importantly
In noise detection system, noise source is not re-used as interference source, but occurs in the form of driving source, and ambient noise is regarded as
The change of useful signal, this important feature can also have an impact the scattering properties of target.
By noise power spectrum, the variation of acoustic energy flow and the generation of acoustics visibility is to determine whether there is target appearance.That is sound
Signal by detection formation at wave beam, the acoustics visibility that is handled by acoustic energy flow, power spectrum, noise field covariance
Variation is to show that whether there is or not target appearance.
Summary of the invention
It is an object of the invention to open good concealment, the noise that can be flowed based on underwater sound field harmony of strong operability is visited
Survey method.
The object of the present invention is achieved like this:
Based on the noise detection method that underwater sound field harmony can flow, comprise the following steps:
Step (1): detection battle array is established, Wave beam forming is carried out:
Detection battle array is established using multiple array elements, establishes " delay-summation-square " model of conventional beams formation, if s is mesh
Signal is marked, n is noise, it is assumed that s and n is Stationary Random Fields.Define the Signal to Noise Ratio (SNR) of single array elementsensorFor echo signal
The ratio between ingredient and the mean-square value of noise contribution:
Defining array gain AG is the ratio between basic matrix signal-to-noise ratio and array element signal-to-noise ratio:
If being mixed with noise n in the i-th road signali(t), and mutually indepedent between the noise in each road signal, mean value is all zero,
The output of system is then indicated with the form of power:
As θ=θ0When, the output of system is equal to N2σs 2+Nσn 2, N is the number of primitive.Echo signal enhances N2Times, it makes an uproar
Sound enhances N times.Spatial gain G brought by Wave beam formings:
Gs=10log N；
Step (2): noise field covariance is obtained, and calculates acoustics visibility:
Step (2.1): noise source face is determined:
When the noise immission spherical object of sea, if the spherical object that radius is a is located at the h of sea or less, plane-parallel layer
Waveguide ocean depth is ignoring sea bottom bounce according to sea Model of Noise Source and shallow water virtual source model for H
In the case where, four faces are located to the noise source of spherical object generation effect, are respectively: the source face S (R below sea at ds)；
Virtual source face S (the R ' at the above d in sea formed through sea surface reflections)；It is located at sea or less (2H-d) through what sub-bottom reflection was formed
Virtual source face S (the R " at places)；The virtual source for being located at sea or less (2H+d) is formed by sub-bottom reflection again after first passing through sea surface reflection
Face S (R " 's)。
Step (2.2): incident-noise field function, shot noise field function and overall noise field function are obtained:
Spherical object is derived by the source face S (R at d below seas) noise source excitation under scattering acoustic field expression formula.
It establishes using spherical object center O as the spherical coordinate system of coordinate originVertical line is done from spherical coordinate system origin to seaWherein OsFor vertical lineIn plane S (R where the noise source of seas, h-d) and intersection point on face.Where the noise source of sea
Face S (Rs, h-d) on OsPolar coordinate system is established for originPolar axis direction and spherical coordinates longitude φ axis are in the same direction, plane
Rectangular coordinate system (xs,ys) and polar coordinate systemIt is corresponding.
In S (Rs, h-d) and face takes up an official post and takes a noise source Rs1, spherical coordinates isPolar coordinates areIf receiving point spherical coordinates isThen noise source Rs1The spherical wave of radiation reaches receiving point R1When are as follows:
In above formula, S (rs1) it is rs1The sea noise source function at place.By pi1(R1,Rs1) obtained by spherical function expansion:
In above formula, For m associated Legendre function of n rank, jnFor n rank spheric Bessel function,
For n rank ball Hankel function, and Rs1≥R1。
If there are another receiving pointsIt receives and comes from S (Rs, h-d) and spherical coordinates is on faceIt is expressed as in polar coordinatesNoise source noise, receiving point R2What is received comes from sea
The incident-noise field of face noise are as follows:
Receiving point R2The shot noise field P of spherical object under the sea noise excitation receiveds2(R2,Rs2):
The virtual source that sea sub-bottom reflection generates, receiving point R is added2The overall noise field received are as follows:
P2 is total=P2(h-d)+V1P2(h+d)+V2P2[-(2H-h-d)]+V1V2P2[-(2H-h+d)]
=P2i is total+P2s is total；
In above formula, P2i is totalFor receiving point R2The total incident-noise field received；
P2i is total=Pi2(R2,Rs2)+V1Pi2(R2,Rs'2)+V2Pi2(R2,R″s2)+V1V2Pi2(R2,R″′s2)；
P2s is totalFor receiving point R2The total scattering noise field received
P2s is total=Ps2(R2,Rs2)+V1Ps2(R2,Rs'2)+V2Ps2(R2,R″s2)+V1V2Ps2(R2,R″′s2)；
" * " indicates complex conjugate, and<>indicates ensemble average.
Step (2.3): noise field covariance is obtained:
Cii(R1,R2) it is incident-noise field covariance:
Css(R1,R2) it is target scattering noise field covariance:
Cis(R1,R2) and Csi(R1,R2) it is incident-noise field and shot noise field cross covariance:
According to reciprocal theorem, it is easy to get
Cis(R1,R2)=Csi(R2,R1)；
Step (2.4): by incident-noise field and shot noise field cross covariance, incident-noise field covariance and target scattering
Noise field covariance calculates acoustics visibility.
Step (3): power spectrum detection:
Step (3.1): foundation has limit for length's elastic cylinder model:
Acoustic pressure of the scattering acoustic field at hydrophone receiving point:
In above formula, p0It is sound source sound field in the incidence wave acoustic pressure for having limit for length's elastic cylinder, r is receiving point to there is limit for length elastic
The distance of cylindrical center；It is sound wave incident angle θ that incidence wave, which is defined, with the angle for having limit for length's elastic cylinder abeam direction, and definition has
The length of limit for length's elastic cylinder is L, and the radius for having limit for length's elastic cylinder is a, f∞(Ω) is incident sound field carrier frequency f, angle of scatteringSound wave incident angle θ, the length L for having limit for length's elastic cylinder, have limit for length's elastic cylinder radius a function, f∞(Ω) is that have
The morphic function of limit for length's elastic cylinder.
Step (3.2): power Spectral Estimation；
Step (3.3): window adding in frequency domain:
In the maximum of the changed extracted region power spectrum of frequency component, added using a window function W (n) in frequency domain
Window power spectrum function.If the changed frequency band of frequency component is [fL,fH], select rectangular window function:
In above formula, [] indicates round numbers, FsOnly signal sampling rate, NFFTIt is the length of FFT
Step (3.4): Threshold detection:
Threshold detection WP >=DT is set, Preliminary detection is made to target from power spectral amplitude, makes the frequency greater than threshold value
The statistics of component participation next step power spectrum maximum number.
Step (3.5): the detection of maximum number:
In the changed region of frequency component, maximum number N of the power spectrum in amplitude is countedmax, connect as hydrophone
Maximum number thresholding, the target in judgement invasion sound field is arranged in the frequency domain character of the collection of letters number.
Step (4): acoustic energy flow is obtained:
Step (4.1): mixed type non-uniform Distribution Model of Noise Source is established:
Mixed type non-uniform Distribution Model of Noise Source is established, by horizontal homogeneous partition noise source on the lower infinitepiston in sea
With parts multiple in another plane sea area distribution variable strength noise source composition；The sound energy flux density W (r, t) of sound field is the point
The product of acoustic pressure and particle vibration velocity:
W (r, t)=p (r, t) u (r, t)；
Step (4.2): setting parameter PmAcoustic pressure P (r, z) at sink is simplified:
Under mixed type non-uniform Distribution Model of Noise Source, consider horizontal slice marine environment, if receiving point be located at R (r,
Z), then the acoustic pressure P (r, z) at receiving point is made of the uniform non-noise field for hooking noise source generation:
In above formula, it is assumed that parameter PmThe normal mode expression formula of Green's function G is simplified:
In above formula, parameter Pm:
M is the number of normal mode；
In above formula, rdIt is horizontal distance of the sound source to receiving point, ζm、ψm(z)、δmFor the horizontal wave number of m normal mode.
By PmThe acoustic pressure P (r, z) substituted at receiving point is obtained:
Step (4.3): the vibration velocity at receiving point is obtained:
The time factor for taking monochromatic wave is e-jwt, it is according to a certain frequency reception point vibration velocity of Euler's formulaThe then horizontal x durection component of vibration velocity of the noise source at receiving point are as follows:
Step (4.4): Green's function G is to x, the local derviation far field of y are as follows:
φ is azimuth；
Step (4.5): the acoustic energy flow and y in the direction x for being uniformly distributed part of mixed type non-uniform Distribution noise source are obtained
The acoustic energy flow in direction:
For the noise field for being uniformly distributed part generation of mixed type non-uniform Distribution noise source, it is assumed that phase between noise source
Mutual independence and equal strength, then:
The acoustic energy flow I in the direction xpvx-zs, the acoustic energy flow I in the direction ypvy-zsAre as follows:
Part of the integrand Xiang Zhongjun containing trigonometric function, the integral in 0 to 2 section π is zero, so final integral
It as a result is zero, i.e. the acoustic energy flow I in the direction xpvx-zs, the acoustic energy flow I in the direction ypvy-zsIt is zero.
Step (4.6): the average water of the receiving point of the non-uniform Distribution part of mixed type non-uniform Distribution noise source is obtained
Flat acoustic energy flow:
For the non-uniform Distribution part of mixed type non-uniform Distribution noise source, it is assumed that there are n different types of boat,
Boat noise source is mutually indepedent but source strength is different, obtains the average level acoustic energy flow of receiving point are as follows:
Step (5): synthesis has decided whether target appearance:
Wave beam forming is carried out to acoustical signal using detection battle array, then obtains power spectrum testing result, acoustic energy flow and noise field
Then covariance obtains acoustics visibility using noise field covariance, then according to power spectrum testing result, acoustic energy flow harmony
It learns visibility and has decided whether target appearance.
The invention has the benefit that
The present invention judges that target whether there is using ambient noise as driving source, when there is target to enter sound field, sound field ring
Border can change the scattering properties of target surface, thus determine whether target appearance, so that the method concealment in the present invention is strong,
Improve the survival ability of submarine target.
Detailed description of the invention
Fig. 1 is the noise detection method flow diagram that can be flowed based on underwater sound field harmony；
Fig. 2 is that conventional beams form illustraton of model；
Fig. 3 is noise immission spherical object schematic diagram；
Fig. 4 is power spectrum overhaul flow chart.
Specific embodiment
Further describe the present invention with reference to the accompanying drawing:
As Fig. 1 is comprised the following steps based on the noise detection method that underwater sound field harmony can flow:
Step (1): detection battle array is established, Wave beam forming is carried out:
Wave beam forming is the important component of Signal processing of sonar, either active sonar or passive sonar, will
There is Beam Forming System.It can be seen as a kind of spatial filter, so that basic matrix is only in a direction spirit with higher
Sensitivity, to inhibit the noise jamming from other direction.Such as Fig. 2, when the target radiated noise of distant place travels to each primitive
When, due to the reason of path difference, the output signal of each primitive is different.If carrying out artificial compensation to this species diversity,
So compensated signal is just all the same.
Detection battle array is established using multiple array elements, establishes " delay-summation-square " model of conventional beams formation, if s is mesh
Signal is marked, n is noise, it is assumed that s and n is Stationary Random Fields.Define the Signal to Noise Ratio (SNR) of single array elementsensorFor echo signal
The ratio between ingredient and the mean-square value of noise contribution, are conceptually expressed as the ratio between signal and noise power:
One of main purpose using array gain is exactly to improve base by coherent superposition signal and non-coherent addition noise
The signal-to-noise ratio of battle array receiving end.Because basic matrix is made of many array elements, each has independent measurement, array element letter to wave field
Number reasonable combination signal-to-noise ratio will be made to increase.Defining array gain AG is the ratio between basic matrix signal-to-noise ratio and array element signal-to-noise ratio:
If being mixed with noise n in the i-th road signali(t), and mutually indepedent between the noise in each road signal, mean value is all zero,
The output of system is then indicated with the form of power:
As θ=θ0When, the output of system is equal to N2σs 2+Nσn 2, N is the number of primitive.Echo signal enhances N2Times, it makes an uproar
Sound enhances N times.To which gain brought by Wave beam forming is
Gs=N；
Often described spatial gain
Gs=10logN；
Step (2): noise field covariance is obtained, and calculates acoustics visibility:
Step (2.1): noise source face is determined:
When the noise immission spherical object of sea, if the spherical object that radius is a is located at the h of sea or less, plane-parallel layer
Waveguide ocean depth is ignoring sea bottom bounce according to sea Model of Noise Source and shallow water virtual source model for H
In the case where, four faces are located to the noise source of spherical object generation effect, are respectively: the source face S (R below sea at ds)；
Virtual source face S (the R at the above d in sea formed through sea surface reflections')；It is located at sea or less (2H-d) through what sub-bottom reflection was formed
Virtual source face S (the R " at places)；The virtual source for being located at sea or less (2H+d) is formed by sub-bottom reflection again after first passing through sea surface reflection
Face S (R " 's)。
Step (2.2): incident-noise field function, shot noise field function and overall noise field function are obtained:
Such as Fig. 3, spherical object is derived by the source face S (R at d below seas) noise source excitation under scattering acoustic field
Expression formula.It establishes using spherical object center O as the spherical coordinate system of coordinate originIt is done from spherical coordinate system origin to sea
Vertical lineWherein OsFor vertical lineIn plane S (R where the noise source of seas, h-d) and intersection point on face.In sea noise source
Face S (the R at places, h-d) on OsPolar coordinate system is established for originPolar axis direction and spherical coordinates longitude φ axis are in the same direction,
Plane right-angle coordinate (xs,ys) and polar coordinate systemIt is corresponding.
In S (Rs, h-d) and face takes up an official post and takes a noise source Rs1, spherical coordinates isPolar coordinates areIf receiving point spherical coordinates isThen noise source Rs1The spherical wave of radiation reaches receiving point R1When are as follows:
In above formula, S (rs1) it is rs1The sea noise source function at place.By pi1(R1,Rs1) obtained by spherical function expansion:
In above formula, For m associated Legendre function of n rank, jnFor n rank spheric Bessel function,
For n rank ball Hankel function, target usually has a certain distance apart from sea, meets R under normal circumstancess1≥R1Condition.
The covariance of noise field is discussed, it is necessary to obtain the noise field that another receiving point receives.If existing another
One receiving pointIt receives and comes from S (Rs, h-d) and spherical coordinates is on faceIt is indicated in polar coordinates
ForNoise source noise, receiving point R2The incident-noise field from sea noise received are as follows:
Receiving point R2The shot noise field P of spherical object under the sea noise excitation receiveds2(R2,Rs2):
The virtual source that sea sub-bottom reflection generates, receiving point R is added2The overall noise field received are as follows:
P2 is total=P2(h-d)+V1P2(h+d)+V2P2[-(2H-h-d)]+V1V2P2[-(2H-h+d)]
=P2i is total+P2s is total；
In above formula, P2i is totalFor receiving point R2The total incident-noise field received；
P2i is total=Pi2(R2,Rs2)+V1Pi2(R2,R′s2)+V2Pi2(R2,R″s2)+V1V2Pi2(R2,R″′s2)；
P2s is totalFor receiving point R2The total scattering noise field received
P2s is total=Ps2(R2,Rs2)+V1Ps2(R2,Rs'2)+V2Ps2(R2,R″s2)+V1V2Ps2(R2,R″′s2)；
" * " indicates complex conjugate, and<>indicates ensemble average.
Step (2.3): noise field covariance is obtained:
Cii(R1,R2) it is incident-noise field covariance:
Css(R1,R2) it is target scattering noise field covariance:
Cis(R1,R2) and Csi(R1,R2) it is incident-noise field and shot noise field cross covariance:
According to reciprocal theorem, it is easy to get
Cis(R1,R2)=Csi(R2,R1)；
Step (2.4): by incident-noise field and shot noise field cross covariance, incident-noise field covariance and target scattering
Noise field covariance calculates acoustics visibility.
Step (3): power spectrum detection:
Such as Fig. 4, step (3.1): foundation has limit for length's elastic cylinder model:
In terrorist activity, there is the target of menace generally to have the characteristics that miniaturization under water, such as underwater frogman, ROV,
The geometry of these targets of the such as AUV, frogman's vehicle, which is substantially all, can be approximated to be cylindrical body, they are unsatisfactory for rigidity bar
Part is narrowly elastomer.Acoustic pressure of the scattering acoustic field at hydrophone receiving point:
In above formula, p0It is sound source sound field in the incidence wave acoustic pressure for having limit for length's elastic cylinder, r is receiving point to there is limit for length elastic
The distance of cylindrical center；It is sound wave incident angle θ that incidence wave, which is defined, with the angle for having limit for length's elastic cylinder abeam direction, and definition has
The length of limit for length's elastic cylinder is L, and the radius for having limit for length's elastic cylinder is a, f∞(Ω) is incident sound field carrier frequency f, angle of scatteringSound wave incident angle θ, the length L for having limit for length's elastic cylinder, have limit for length's elastic cylinder radius a function, f∞(Ω) is that have
The morphic function of limit for length's elastic cylinder.The acoustic pressure of target scattering sound field will subtract with increase of the target at a distance from receiving point
It is small.The study found that the modulus value of morphic function shows the oscillation with frequency by acutely becoming slow with the increase of incident angle
Slow characteristic, i.e. incidence angle are bigger, and morphic function more tends towards stability, then the sound pressure level of scattering acoustic field is also more stable.
Step (3.2): power Spectral Estimation；
Step (3.3): window adding in frequency domain:
In the maximum of the changed extracted region power spectrum of frequency component, added using a window function W (n) in frequency domain
Window power spectrum function.If the changed frequency band of frequency component is [fL,fH], select rectangular window function:
In above formula, [] indicates round numbers, FsOnly signal sampling rate, NFFTIt is the length of FFT
Step (3.4): Threshold detection:
Threshold detection WP >=DT is set, Preliminary detection is made to target from power spectral amplitude, makes the frequency greater than threshold value
The statistics of component participation next step power spectrum maximum number.
Step (3.5): the detection of maximum number:
In the changed region of frequency component, maximum number N of the power spectrum in amplitude is countedmax, connect as hydrophone
Maximum number thresholding, the target in judgement invasion sound field is arranged in the frequency domain character of the collection of letters number.
Step (4): acoustic energy flow is obtained:
Step (4.1): mixed type non-uniform Distribution Model of Noise Source is established:
In practical marine environment, the sea such as marine boat and distant place storm Aerodynamic force action geographically has unbalanced
Property, sea noise source is in non-uniform Distribution in the horizontal direction.In view of equally distributed countless there is also being typically considered on sea
The equal strength noise source that the factors such as broken wave generate.Mixed type non-uniform Distribution Model of Noise Source is established, by a nothing under sea
Limit in plane multiple local sea areas distribution variable strength noise sources compositions in horizontal homogeneous partition noise source and another plane；Sound
The sound energy flux density W (r, t) of field is the product of the acoustic pressure and particle vibration velocity:
W (r, t)=p (r, t) u (r, t)；
It is a vector.Dimension are as follows: energy/[area * time], basic unit: J/m2S=W/m2。
Step (4.2): setting parameter PmAcoustic pressure P (r, z) at sink is simplified:
Under mixed type non-uniform Distribution Model of Noise Source, consider horizontal slice marine environment, if receiving point be located at R (r,
Z), then the acoustic pressure P (r, z) at receiving point is made of the uniform non-noise field for hooking noise source generation:
In above formula, it is assumed that parameter PmThe normal mode expression formula of Green's function G is simplified:
In above formula, parameter Pm:
M is the number of normal mode；
In above formula, rdIt is horizontal distance of the sound source to receiving point, ζm、ψm(z)、δmFor the horizontal wave number of m normal mode.
By PmThe acoustic pressure P (r, z) substituted at receiving point is obtained:
Step (4.3): the vibration velocity at receiving point is obtained:
The time factor for taking monochromatic wave is e-jwt, it is according to a certain frequency reception point vibration velocity of Euler's formulaThe then horizontal x durection component of vibration velocity of the noise source at receiving point are as follows:
Step (4.4): Green's function G is to x, the local derviation far field of y are as follows:
φ is azimuth；
Step (4.5): the acoustic energy flow and y in the direction x for being uniformly distributed part of mixed type non-uniform Distribution noise source are obtained
The acoustic energy flow in direction:
For the noise field for being uniformly distributed part generation of mixed type non-uniform Distribution noise source, it is assumed that phase between noise source
Mutual independence and equal strength, then:
The acoustic energy flow I in the direction xpvx-zs, the acoustic energy flow I in the direction ypvy-zsAre as follows:
Part of the integrand Xiang Zhongjun containing trigonometric function, the integral in 0 to 2 section π is zero, so final integral
It as a result is zero, i.e. the acoustic energy flow I in the direction xpvx-zs, the acoustic energy flow I in the direction ypvy-zsIt is zero.This explanation is uniformly distributed on sea makes an uproar
Under sound source situation, the ambient noise level direction average acoustic energy stream of receiving point position is zero, it means that is believed with traditional acoustic pressure
Number detection is compared, and noise background can be significantly reduced from acoustic energy flow angle detection echo signal.
Step (4.6): the average water of the receiving point of the non-uniform Distribution part of mixed type non-uniform Distribution noise source is obtained
Flat acoustic energy flow:
For the non-uniform Distribution part of mixed type non-uniform Distribution noise source, it is assumed that there are n different types of boat,
Boat noise source is mutually indepedent but source strength is different, obtains the average level acoustic energy flow of receiving point are as follows:
Due to z=zsThe average level acoustic energy flow in uniformly distributed noise source is 0 in plane, so practical receiving point horizontal acoustic
It can flow and just only be generated by n boat noise source in other depth planes, the compound direction of horizontal acoustic energy flow are as follows:
Tan (θ)=(Ipvy-zs2/Ipvx-zs2)。
Step (5): synthesis has decided whether target appearance:
Wave beam forming is carried out to acoustical signal using detection battle array, then obtains power spectrum testing result, acoustic energy flow and noise field
Then covariance obtains acoustics visibility using noise field covariance, then according to power spectrum testing result, acoustic energy flow harmony
It learns visibility and has decided whether target appearance.Under normal circumstances, target can have been adjudicated by having one to reach in these three parameters
The thresholding of appearance, other two parameters have biggish change accordingly.
Compared with prior art, ambient noise judges that target whether there is as driving source, and ocean acoustic field is in level side
To anisotropy is presented, the horizontal direction that target is determined with hydrophone array is handled through acoustic field signal, nine yuan of linear arrays of level are used to
Substantially determine the direction of target, vertical linear array is used to substantially determine the depth of target.Passive sonar system can make an uproar environment
Sound is as driving source, and when there is target to enter sound field, sound field environment can change the scattering properties of target surface, so that judgement has
No target occurs, and by a series of information processing, determines the position of target, it is this itself do not emit sound wave it may determine that
There is aimless detection system, conceals oneself well.After the completion of this project, by science of establishing, available noise detection
Model can be used as the foundation of noise analysis and processing and Other subjects correlative study.
The above is not intended to restrict the invention, and for those skilled in the art, the present invention can have various
Change and variation.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all wrap
Containing within protection scope of the present invention.
Claims (6)
1. the noise detection method that can be flowed based on underwater sound field harmony, it is characterised in that: comprise the following steps:
Step (1): detection battle array is established, Wave beam forming is carried out；
Step (2): noise field covariance is obtained, and calculates acoustics visibility；
Step (3): power spectrum detection；
Step (4): acoustic energy flow is obtained；
Step (5): synthesis has decided whether target appearance.
2. the noise detection method according to claim 1 that can be flowed based on underwater sound field harmony, it is characterised in that: described
Step (1) specifically:
Detection battle array is established using multiple array elements, establishes " delay-summation-square " model of conventional beams formation, if s is target letter
Number, n is noise, it is assumed that s and n is Stationary Random Fields；Define the Signal to Noise Ratio (SNR) of single array elementsensorFor target signal elements with
The ratio between mean-square value of noise contribution:
Defining array gain AG is the ratio between basic matrix signal-to-noise ratio and array element signal-to-noise ratio:
If being mixed with noise n in the i-th road signali(t), and mutually indepedent between the noise in each road signal, mean value is all zero, then uses
The form of power indicates the output of system:
As θ=θ0When, the output of system is equal to N2σs 2+Nσn 2, N is the number of primitive；Echo signal enhances N2Times, Noise enhancement
N times；Spatial gain G brought by Wave beam formings:
Gs=10log N.
3. the noise detection method according to claim 1 that can be flowed based on underwater sound field harmony, it is characterised in that: described
Step (2) specifically:
Step (2.1): noise source face is determined:
When the noise immission spherical object of sea, if the spherical object that radius is a is located at the h of sea or less, plane-parallel layer waveguide
Ocean depth is H, according to sea Model of Noise Source and shallow water virtual source model, the case where ignoring sea bottom bounce
Under, four faces are located to the noise source of spherical object generation effect, are respectively: the source face S (R below sea at ds)；Through sea
Virtual source face S (R ' at the above d in the sea reflected to forms)；The void being located at sea or less (2H-d) formed through sub-bottom reflection
Source face S (R "s)；The virtual source face S for being located at sea or less (2H+d) is formed by sub-bottom reflection again after first passing through sea surface reflection
(R″′s)；
Step (2.2): incident-noise field function, shot noise field function and overall noise field function are obtained:
Spherical object is derived by the source face S (R at d below seas) noise source excitation under scattering acoustic field expression formula；It establishes
Using spherical object center O as the spherical coordinate system of coordinate originVertical line is done from spherical coordinate system origin to seaIts
Middle OsFor vertical lineIn plane S (R where the noise source of seas, h-d) and intersection point on face；In the face S where the noise source of sea
(Rs, h-d) on OsPolar coordinate system is established for originPolar axis direction and spherical coordinates longitude φ axis are in the same direction, and flat square is sat
Mark system (xs,ys) and polar coordinate systemIt is corresponding；
In S (Rs, h-d) and face takes up an official post and takes a noise source Rs1, spherical coordinates isPolar coordinates areIf connecing
Sink spherical coordinates isThen noise source Rs1The spherical wave of radiation reaches receiving point R1When are as follows:
In above formula, S (rs1) it is rs1The sea noise source function at place；By pi1(R1,Rs1) obtained by spherical function expansion:
In above formula, For m associated Legendre function of n rank, jnFor n rank spheric Bessel function,For n
Rank ball Hankel function, and Rs1≥R1；
If there are another receiving pointsIt receives and comes from S (Rs, h-d) and spherical coordinates is on facePole
It is expressed as in coordinateNoise source noise, receiving point R2The incident-noise field from sea noise received
Are as follows:
Receiving point R2The shot noise field P of spherical object under the sea noise excitation receiveds2(R2,Rs2):
The virtual source that sea sub-bottom reflection generates, receiving point R is added2The overall noise field received are as follows:
In above formula, P2i is totalFor receiving point R2The total incident-noise field received；
P2i is total=Pi2(R2,Rs2)+V1Pi2(R2,R′s2)+V2Pi2(R2,R″s2)+V1V2Pi2(R2,R″′s2)；
P2s is totalFor receiving point R2The total scattering noise field received
P2s is total=Ps2(R2,Rs2)+V1Ps2(R2,R′s2)+V2Ps2(R2,R″s2)+V1V2Ps2(R2,R″′s2)；
“*" indicate complex conjugate,<>indicates ensemble average；
Step (2.3): noise field covariance is obtained:
Cii(R1,R2) it is incident-noise field covariance:
Cii(R1,R2)=< P1i is total·P* 2i is total>；
Css(R1, R2) it is target scattering noise field covariance:
Css(R1,R2)=< P1s is total·P* 2s is total>；
Cis(R1,R2) and Csi(R1,R2) it is incident-noise field and shot noise field cross covariance:
Cis(R1,R2)=< P1i is total·P* 2s is total>；
Csi(R1,R2)=< P1s is total·P* 2i is total>；
According to reciprocal theorem, it is easy to get
Cis(R1,R2)=Csi(R2,R1)；
Step (2.4): by incident-noise field and shot noise field cross covariance, incident-noise field covariance and target scattering noise
Field covariance calculates acoustics visibility.
4. the noise detection method according to claim 1 that can be flowed based on underwater sound field harmony, it is characterised in that: described
Step (3) specifically:
Step (3.1): foundation has limit for length's elastic cylinder model:
Acoustic pressure of the scattering acoustic field at hydrophone receiving point:
In above formula, p0It is sound source sound field in the incidence wave acoustic pressure for having limit for length's elastic cylinder, r is receiving point to there is limit for length's elastic cylinder
The distance at center；It is sound wave incident angle θ that incidence wave, which is defined, with the angle for having limit for length's elastic cylinder abeam direction, and definition has limit for length's bullet
Property cylinder length be L, have limit for length's elastic cylinder radius be a, f∞(Ω) is incident sound field carrier frequency f, angle of scatteringSound wave enters
Firing angle θ, the length L for having limit for length's elastic cylinder, have limit for length's elastic cylinder radius a function, f∞(Ω) is that have limit for length's Elastic Circular
The morphic function of column；
Step (3.2): power Spectral Estimation；
Step (3.3): window adding in frequency domain:
In the maximum of the changed extracted region power spectrum of frequency component, using a window function W (n) in window adding in frequency domain function
Rate spectral function；If the changed frequency band of frequency component is [fL,fH], select rectangular window function:
In above formula, [] indicates round numbers, FsOnly signal sampling rate, NFFTIt is the length of FFT
Step (3.4): Threshold detection:
Threshold detection WP >=DT is set, Preliminary detection is made to target from power spectral amplitude, makes the frequency component greater than threshold value
Participate in the statistics of next step power spectrum maximum number；
Step (3.5): the detection of maximum number:
In the changed region of frequency component, maximum number N of the power spectrum in amplitude is countedmax, receive and believe as hydrophone
Number frequency domain character, be arranged maximum number thresholding, judgement invasion sound field in target.
5. the noise detection method according to claim 1 that can be flowed based on underwater sound field harmony, it is characterised in that: described
Step (4) specifically:
Step (4.1): mixed type non-uniform Distribution Model of Noise Source is established:
Mixed type non-uniform Distribution Model of Noise Source is established, by horizontal homogeneous partition noise source on the lower infinitepiston in sea and separately
Multiple part sea area distribution variable strength noise source compositions in one plane；The sound energy flux density W (r, t) of sound field be the acoustic pressure with
The product of particle vibration velocity:
W (r, t)=p (r, t) u (r, t)；
Step (4.2): setting parameter PmAcoustic pressure P (r, z) at sink is simplified:
Under mixed type non-uniform Distribution Model of Noise Source, horizontal slice marine environment is considered, if receiving point is located at R (r, z), then
Acoustic pressure P (r, z) at receiving point is made of the uniform non-noise field for hooking noise source generation:
In above formula, it is assumed that parameter PmThe normal mode expression formula of Green's function G is simplified:
In above formula, parameter Pm:
M is the number of normal mode；
In above formula, rdIt is horizontal distance of the sound source to receiving point, ζm、ψm(z)、δmFor the horizontal wave number of m normal mode；By PmGeneration
Enter the acoustic pressure P (r, z) at receiving point to obtain:
Step (4.3): the vibration velocity at receiving point is obtained:
The time factor for taking monochromatic wave is e-jwt, it is V=▽ P/ (i ρ w) according to a certain frequency reception point vibration velocity of Euler's formula, then makes an uproar
The horizontal x durection component of vibration velocity of the sound source at receiving point are as follows:
Step (4.4): Green's function G is to x, the local derviation far field of y are as follows:
φ is azimuth；
Step (4.5): acoustic energy flow and the direction y in the direction x for being uniformly distributed part of mixed type non-uniform Distribution noise source are obtained
Acoustic energy flow:
For the noise field for being uniformly distributed part generation of mixed type non-uniform Distribution noise source, it is assumed that between noise source mutually solely
Vertical and equal strength, then
The acoustic energy flow I in the direction xpvx-zs, the acoustic energy flow I in the direction ypvy-zsAre as follows:
Part of the integrand Xiang Zhongjun containing trigonometric function, the integral in 0 to 2 section π is zero, so final integral result
It is zero, i.e. the acoustic energy flow I in the direction xpvx-zs, the acoustic energy flow I in the direction ypvy-zsIt is zero；
Step (4.6): the average water even tone of the receiving point of the non-uniform Distribution part of mixed type non-uniform Distribution noise source is obtained
It can flow:
For the non-uniform Distribution part of mixed type non-uniform Distribution noise source, it is assumed that there are n different types of boat, boat
Noise source is mutually indepedent but source strength is different, obtains the average level acoustic energy flow of receiving point are as follows:
6. the noise detection method according to claim 1 that can be flowed based on underwater sound field harmony, it is characterised in that: described
Step (5) specifically:
Wave beam forming is carried out to acoustical signal using detection battle array, then obtains power spectrum testing result, acoustic energy flow and noise field association side
Then difference obtains acoustics visibility using noise field covariance, then according to power spectrum testing result, acoustic energy flow and acoustics are visible
Degree has decided whether target appearance.
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