CN109541548A - A kind of air sonar localization method based on Matched Field - Google Patents

A kind of air sonar localization method based on Matched Field Download PDF

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CN109541548A
CN109541548A CN201811395270.1A CN201811395270A CN109541548A CN 109541548 A CN109541548 A CN 109541548A CN 201811395270 A CN201811395270 A CN 201811395270A CN 109541548 A CN109541548 A CN 109541548A
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vector
field
sound
formula
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CN109541548B (en
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项彬
马石磊
陈建峰
蔺贝
李晓强
温洋
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Shenzhen Xunsheng Lingzhi Information Technology Co.,Ltd.
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Xi'an Lianfeng Xunsheng Information Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention provides a kind of air sonar localization method based on Matched Field, the voice signal in air is received by air sonar sensor, the measurement sound field of sonic transducer and the copy sound field of theoretical model are subjected to relevant treatment matching, the highest copy sound field of the degree of correlation can be used as the estimated value of practical sound field, under conditions of Acoustic channel impulse response obtains accurately estimating and signal-to-noise ratio is certain, sensor, which receives original signal of the signal after liftering, can keep the feature of phase height consistency.Accurate positioning can be realized in conjunction with the feature of signal phase consistency after liftering and with ambient sound channel impulse response information.

Description

A kind of air sonar localization method based on Matched Field
Technical field
The invention belongs to field of signal processing, it is related to sonar Wave beam forming, acoustical signal processing, adaptive, Matched Field, passive Position scheduling theory.
Background technique
Array signal process technique is developed in 1970s, be widely used at present communication, radar, sonar, The numerous areas such as medicine, Speech processing, since the eighties in last century, array signal process technique is widely used in The research of sound source Passive Positioning, what is such as carried on submarine is used to visit latent broadside-sonar, for fixed in video conference room Position sound source microphone array, military affairs in be used for anti-sniper hand acoustic sensor array etc..Sonic transducer for Passive Positioning Equipment is mainly arranged in air with the microphone array of various formations as representative, they passively receive acoustic information, utilize array Signal processing technology, which filters signal, to be enhanced, and signal characteristic is obtained, and calculates transmission direction.
Target Passive Positioning technology based on sonic transducer has reached at present by development and perfection for decades One more mature degree, but in practical engineering applications sound sensing Passive Positioning technology be often not achieved it is desired accurate Degree.First the bottleneck for restricting the development of Passive Positioning technology is multipath effect of the sound in communication process.In air by sound Wall, ground in communication environments, reflection, scattering caused by not exclusively smooth barrier cause, indoors often by this Kind phenomenon is known as reverberation of sound.The multipath effect of sound transmission leads to contain in received signal other in addition to signal source Signal is reflected, these pass through the signal that multipath transmisstion reaches and original signal correlation is very high, are difficult to be filtered out, and can give calculating knot Fruit brings a degree of deviation.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of air sonar localization method based on Matched Field, will Array measurement sound field, by estimating that sound field obtains sound source position information indirectly, is realized and is accurately positioned after Matched-field processing.
The technical solution adopted by the present invention to solve the technical problems the following steps are included:
The first step receives acoustical signal using the air sonar that N number of sonic transducer array element is constituted, and sound-source signal is sinusoidal signal The vector expression of s, array received signal x are x (t)=h (t) * s (t)+n (t), and in formula, h (t) indicates the multi_path channel of N-dimensional Impulse response vector, n (t) are that N-dimensional receives noise vector, and t is time variable, and noise variance is
Impulse response h (t) under multi-path environment is considered as the form of multiple δ function summations by second step,Wherein, AiAnd τiRespectively correspond i-th of route of transmission signal amplitude decaying with compare go directly The propagation delay of wave；
Third step carries out Fourier transformation to array received signal x and is transformed into frequency domain, at this time the corresponding frequency of the convolution in time domain Product X (ω)=H (ω) S (ω)+N (ω) on domain is expressed as array signal lifteringIn formula, N1(ω)=N (ω)/H (ω) still indicates that noise, ω are frequency domain variable；To S (ω) carries out inverse Fourier transform, the estimation signal of acquisition
4th step is rightWave beam forming operation is carried out, is obtained
In formula, w (θ)=[w1(θ) w(θ) … wN(θ)]TFor weighing vector, θ indicates sound source angle；
5th step calculates output power P (θ)=W of Matched FieldH(θ) KW (θ), wherein K is that N × N-dimensional receives the mutual of signal Spectral density matrix, then for each sound source angle θ, there are corresponding copy sound field vector V, and have VH(θ) V (θ)= N, W (θ)=V (θ)/N；
6th step, Adaptive matching field utilizes the covariance matrix of measured data to weighing vector real-time update, adaptive Answer weighing vectorK is the covariance matrix of sampled data in formula；
7th step realizes that Wave beam forming output power maximizes by search θ, and the maximum power output institute of Wave beam forming is right The angle, θ answered0=arg max (P (θ))=arg max (wH(θ)Rw(θ)) the i.e. required sound source position solved.
The beneficial effects of the present invention are: the position of the arbitrarily unknown sound source of environment prior information accurate calculation is utilized, not by The influence of signal multipath reflection can monitor all kinds of voice signals in air in real time, can be used for illegal whistle vehicle The fields such as positioning, the positioning of land suspicious object, environment noise monitoring have far-reaching meaning for construction green, civilization, harmonious society Justice.The present invention has merged a variety of Passive Locations such as adaptive, liftering, Matched Field, Wave beam forming, realizes more in air Accurate positioning under diameter environment has pushed Passive Positioning technology in the application and development in the fields such as traffic, security protection, monitoring.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is Adaptive matching field processor schematic diagram；
Fig. 3 is to receive signal waveform and shock response schematic diagram；
Fig. 4 is transmission function matching degree figure；
Fig. 5 is signal waveforms after liftering.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations Example.
For the low problem of air sonar positioning accuracy, the air sonar proposed by the present invention based on Matched Field liftering is fixed Position method receives the voice signal in air by air sonar sensor, by the measurement sound field and theoretical model of sonic transducer Copy sound field carry out relevant treatment matching, the highest copy sound field of the degree of correlation can be used as the estimated value of practical sound field, in sound Channel impulse response obtain accurately estimate and signal-to-noise ratio it is certain under conditions of, sensor receive signal it is original after liftering Signal can keep the feature of phase height consistency.In conjunction with the feature of signal phase consistency after liftering and with environment Acoustic channel Shock response information can realize accurate positioning.
Steps are as follows for air sonar localization method proposed by the present invention based on Matched Field liftering:
Step 1: air sonar sensor receives signal
Assuming that there are N number of sonic transducer array elements to receive acoustical signal under a multi-path environment, sound-source signal is sinusoidal signal S, the vector expression of array received signal x are as follows:
X (t)=h (t) * s (t)+n (t)
In formula, h (t) indicates the multi_path channel impulse response vector of N-dimensional, and n (t) is that N-dimensional receives noise vector, and t is the time Variable, noise variance generally assume that for
Step 2: estimation multi_path channel shock response
Impulse response h (t) under multi-path environment can be regarded as the form of multiple δ function summations.That is:
In formula, N is the number of multipath transmisstion, AiAnd tiRespectively correspond the amplitude fading and phase of the signal of i-th of multipath transmisstion Than the propagation delay of direct wave.
Step 3: liftering
It is transformed into frequency domain to signal x progress Fourier transformation is received, the convolution in time domain corresponds to the product on frequency domain at this time, Array signal liftering can be indicated are as follows:
X (ω)=H (ω) S (ω)+N (ω)
In formula, N1(ω)=N (ω)/H (ω) still indicates that noise, ω are frequency domain variable.
Carrying out inverse Fourier transform to S (ω) then has:
The estimation signal obtained by lifteringIt is original signal s and noise n in fact1Linear superposition, s is one group of N-dimensional Original signal, noise n1It is related with received ambient noise n and channel impulse response h (t).Due to generally receiving ambient noise N is difficult to obtain, and Passive Positioning System also lacks the prior information of original sound source signal, makes an uproar so being difficult accurately to calculate Sound n1Carry out recovering signal.It can be seen that the shock response phase that the channel impulse response for working as liftering is propagated with target acoustic signal When matching, s at this time is one group of amplitude, the identical original signal of phase.
Step 4: sonar Wave beam forming
Estimation signal after lifteringAlthough noise in can not filter out, and the method that Wave beam forming can be used is come Inhibit noise, it is rightCarrying out Wave beam forming operation then has:
In formula, w (θ)=[w1(θ) w(θ) … wN(θ)]TFor weighing vector, subscript " * " indicates complex conjugation operator, subscript " T " indicates that the transposition of vector or matrix, θ indicate sound source position parameter, and wave beam output is by original signal s and superimposed noise n1 Obtained from being superimposed after weighted sum respectively, since the noise between each channel is uncorrelated, it can be suppressed after weighted sum, and sound Source signal weighted sum can then obtain the gain of 10logN.Since the signal phase amplitude after liftering is almost the same, for one A N element array, we can by after liftering the beam forming process of signal be considered as and be mingled with the slave sound source of noise to one group Direction enters the process that the signal come in carries out beam scanning.
Step 5: calculating output power
The power output of Matched Field can indicate are as follows:
P (θ)=WH(θ)KW(θ)
θ then indicates sound source position parameter, the i.e. coordinate of dragnet lattice point in formula, and K is that N × N-dimensional reception signal cross-spectrum is close Matrix is spent, W (θ) is weight vector.Then for each mesh coordinate, there are corresponding copy sound field vector V, and have VH (θ) V (θ)=N, and weight vector W (θ)=V (θ)/N.Multi_path channel will be passed through in addition to direct wave and propagate arrival sonic transducer Signal is all considered as interference signal, then receives signal and contain echo signal, interference signal and noise.It is assumed that there are a mesh Mark, M-1 interference, echo signal, interference signal and ambient noise are irrelevant.
6th step Adaptive matching field processor
Adaptive matching field processor utilizes the covariance matrix of measured data to weight vector real-time update, can be effective Inhibit interference and secondary lobe, obtains more preferably performance.Its adaptive weight vector indicates are as follows:
Weight vector is codetermined by the covariance matrix and copy sound field of measured data, and K is the association side of sampled data in formula Poor matrix:
In formula, X indicates the data vector that sampling obtains, and L is number of snapshots.
Step 7: solving sound source position information
Realize that Wave beam forming output power maximizes by dragnet lattice point coordinate θ, the maximum power output of Wave beam forming Corresponding angle can indicate are as follows:
θ0=argmax (P (θ))=argmax (wH(θ)Rw(θ))
When the channel impulse response of acoustic channel shock response and practical acoustic propagation according to estimated by sound field prior information When matching, Wave beam forming is carried out to the estimation of the original signal obtained by liftering, then can obtain wave beam in zero crossings Maximum power output, at this time it may be considered that θ0As the azimuth of original sound source signal is to carry out Passive Positioning.

Claims (1)

1. a kind of air sonar localization method based on Matched Field, it is characterised in that include the following steps:
The first step receives acoustical signal using the air sonar that N number of sonic transducer array element is constituted, and sound-source signal is sinusoidal signal s, battle array Column receive the vector expression of signal x as x (t)=h (t) * s (t)+n (t), and in formula, h (t) indicates the multi_path channel impact of N-dimensional Response vector, n (t) are that N-dimensional receives noise vector, and t is time variable, and noise variance is
Impulse response h (t) under multi-path environment is considered as the form of multiple δ function summations by second step,Wherein, AiAnd τiThe signal amplitude for respectively corresponding i-th of route of transmission decays and compares direct wave Propagation delay；
Third step carries out Fourier transformation to array received signal x and is transformed into frequency domain, and the convolution in time domain corresponds on frequency domain at this time Product X (ω)=H (ω) S (ω)+N (ω) array signal liftering is expressed asFormula In, N1(ω)=N (ω)/H (ω) still indicates that noise, ω are frequency domain variable；Inverse Fourier transform is carried out to S (ω), is obtained Estimation signal
4th step is rightWave beam forming operation is carried out, is obtained
In formula, w (θ)=[w1(θ) w(θ) … wN(θ)]TFor weighing vector, θ indicates sound source angle；
5th step calculates output power P (θ)=W of Matched FieldH(θ) KW (θ), wherein K is that N × N-dimensional reception signal cross-spectrum is close Matrix is spent, then there are corresponding copy sound field vector V for each sound source angle θ, and have VH(θ) V (θ)=N, W (θ)=V (θ)/N；
6th step, Adaptive matching field, to weighing vector real-time update, are adaptively added using the covariance matrix of measured data Weight vectorK is the covariance matrix of sampled data in formula；
7th step realizes that Wave beam forming output power maximizes by search θ, corresponding to the maximum power output of Wave beam forming Angle, θ0=argmax (P (θ))=argmax (wH(θ) Rw (θ)) the i.e. required sound source position solved.
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CN110807901A (en) * 2019-11-08 2020-02-18 西安联丰迅声信息科技有限责任公司 Non-contact industrial abnormal sound detection method
CN111522013A (en) * 2020-05-18 2020-08-11 浙江大学城市学院 Submarine target positioning device based on side scan sonar
CN111573197A (en) * 2020-04-22 2020-08-25 北京华能新锐控制技术有限公司 Abnormal sound detection method for distributed belt conveyor
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CN113419218A (en) * 2021-07-27 2021-09-21 中山大学 Underwater sound source matching field positioning method based on image signal processing
WO2024082195A1 (en) * 2022-10-19 2024-04-25 北京小米移动软件有限公司 Ai model-based terminal positioning method and apparatus

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CN110807901A (en) * 2019-11-08 2020-02-18 西安联丰迅声信息科技有限责任公司 Non-contact industrial abnormal sound detection method
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CN111573197A (en) * 2020-04-22 2020-08-25 北京华能新锐控制技术有限公司 Abnormal sound detection method for distributed belt conveyor
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CN113419218A (en) * 2021-07-27 2021-09-21 中山大学 Underwater sound source matching field positioning method based on image signal processing
WO2024082195A1 (en) * 2022-10-19 2024-04-25 北京小米移动软件有限公司 Ai model-based terminal positioning method and apparatus

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