CN109581275A - The underwater DOA estimation method of two dimension and device based on non-circular signal and three-dimensional orthogonal battle array - Google Patents
The underwater DOA estimation method of two dimension and device based on non-circular signal and three-dimensional orthogonal battle array Download PDFInfo
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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
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Abstract
The invention discloses a kind of underwater DOA estimation method of two dimension based on non-circular signal and three-dimensional orthogonal battle array and devices, the estimation device has chosen three-dimensional orthogonal uniform array in structure, the data that this array passes through subarray in three dimensions of reception, the unrelated arrival direction estimation of the velocity of sound can be finally obtained, it efficiently solves the problems, such as that velocity of sound deviation bring estimated accuracy declines, can achieve the purpose for promoting estimation performance.In addition to overcoming the problems, such as signal rapid decay in Underwater Acoustic Environment, the estimation device is by the way that non-circular signal to be applied in underwater DOA estimation, using the NC-ESPRIT algorithm based on non-circular signal, to promote estimation performance.To sum up, which combines the advantages of non-circular signal, while using three-dimensional orthogonal array, has carried out the unrelated optimization of the velocity of sound according to underwater environment, estimated accuracy is high, has stronger practicability.
Description
Technical field
The present invention relates to the technical fields of target positioning, and in particular to a kind of two based on non-circular signal and three-dimensional orthogonal battle array
Tie up underwater DOA estimation method and device.
Background technique
Array signal process technique is widely used in various fields, and one of basic problem of array signal processing
It is spacing wave Mutual coupling (DOA estimation).And underwater DOA estimation then refers to that placing sensor array in the water surface utilizes battle array
Column signal processing technique carrys out the method for carrying out orientation estimation to underwater object.
Underwater DOA estimation using sound wave as transmitting carrier, due to acoustic signals under water environmental dissemination when, underwater acoustic channel
In various barriers and rugged seabed caused by sound scattering act on, result in the sharp-decay of signal.Thus may be used
See, the signal decaying of underwater acoustic channel limits application of the underwater acoustic channel in telecommunication.In addition to Underwater Acoustic Environment causes signal
Rapid decay, another problem that underwater DOA estimation faces is exactly that the velocity of sound influences.The principle of DOA algorithm for estimating is to utilize battle array
Column receive the directional information of the wave path-difference estimation space signal between signal.Due to the underwater environments such as river and ocean complexity and not
Stablize, the speed of sound wave changes with position and time, and the estimated accuracy of underwater DOA algorithm is greatly affected.It is underwater at present
DOA estimation method generally assumes that the velocity of sound is known fixed amount, this will affect the precision of wave path-difference.When real velocity of sound deviates in advance
Therefore setting speed, estimated accuracy will reduce.
It is important as one using the DOA algorithm for estimating based on non-circular signal in order to improve underwater DOA algorithm for estimating performance
Research direction.It is used in signal estimation in the feature that the pseudocovariance matrix of non-circular signal is not zero, is equivalent to virtual extended battle array
Column, can significantly improve estimation performance.The increase of non-circular signal-virtual array element is but also algorithm can handle more than battle array simultaneously
The information source number of column number has broad application prospects in complicated Underwater Acoustic Environment.
Array used by arrival direction estimation method at present is mostly L-type array, circle battle array and this kind of planar array of rectangular array
Column.Planar array can obtain relatively good estimation effect in normal condition, but be used to lose when the underwater environment of sonic velocity change
Certain estimated accuracy.
Summary of the invention
The purpose of the present invention is to solve drawbacks described above in the prior art, provide a kind of based on non-circular signal and three-dimensional
The underwater DOA estimation method of the two dimension of orthogonal matrix and device, this method pass through the reception signal to sub-line battle array uniform in three dimensions
It is handled, this factor of the velocity of sound is eliminated in two-dimentional DOA Mutual coupling, to eliminate underwater velocity of sound uncertainty to mesh
Mark the influence of positioning accuracy.Emitted and received simultaneously because having chosen non-circular signal, significantly improves estimation performance.
The first purpose of this invention can be reached by adopting the following technical scheme that:
A kind of underwater DOA estimation method of two dimension based on non-circular signal and three-dimensional orthogonal battle array, the estimation method include:
S1, the array signal model for establishing the orthogonal linear array of cross, the array signal model are a cross cross line
The combination of battle array and vertical linear array 3, the orthogonal linear array of the cross are made of linear array 1 and linear array 2, wherein linear array 1 is arranged in coordinate
It is in x-axis, linear array 2 is arranged in coordinate system y-axis, and vertical linear array 3 is arranged in coordinate system z-axis, and linear array 1 and linear array 2 all respectively have
2M-1 reception array element, vertical linear array 3 have M reception array element, and the average headway between all adjacent array elements is d, by center frequency
Rate is f, and non-circular rate is ρ, and the non-circular signal of 0 ρ≤1 < is as transmitting signal, while non-circular signal meets narrowband condition, i.e., when non-
When circle signal delay is much smaller than inverse bandwidth, delayed-action, which is equivalent to, makes baseband signal generate a phase shift, with coordinate origin
For reference point, it is assumed that submarine target total number is K, and the azimuth and the elevation angle of k-th target are expressed as θkAnd φk, θk∈ [0, π],The angle of target and coordinate system x-axis and y-axis distinguishes α simultaneouslykAnd βk, number of snapshots L, linear array 1 and linear array 2 connect
It receives data matrix and is expressed as X and Y:
X=AxS+Nx (1)
Y=AyS+Ny (2)
Wherein S is the source signal matrix of K × L dimension, AxAnd AyIt is (2M-1) × K dimension guiding vector matrix, NxAnd NyIt is
The noise matrix of (2M-1) × L dimension；
S2, the array signal model for establishing vertical linear array 3, vertical linear array 3 have M reception array element, the reception of vertical linear array 3
Data matrix can be expressed as Z:
Z=AzS+Nz (3)
Wherein AzIt is M × K dimension guiding vector matrix, NzIt is the noise matrix of M × L dimension；
S3, the corresponding information containing the velocity of sound of linear array 1, linear array 2 and vertical linear array 3 is found out using the DOA algorithm based on non-circular signal
Feature value parameter uk、vkAnd wk, k=1,2 ..., K；
S4, three groups of feature value parameter u are carried out using subspace projection angle matched pair techniquek,vkAnd wk, k=1,2 ..., K's matches
It is right；
S5, the estimating two-dimensional direction-of-arrival solution for solving target, i.e., for k, k=1,2 ..., the azimuth angle theta of K targetkWith
Elevation angle φkEstimated value.
Further, in the step S1,
There is S=Φ S according to the non-circular characteristic of transmitting signalR, wherein SRFor the real part of source signal,For the non-circular phase for emitting signal, formula (1) and formula (2) are write
At
X=AxΦSR+Nx (4)
Y=AyΦSR+Ny (5)
Since the non-circular signal echo of array received is also simultaneously narrow band signal, using the point of rotation as origin, guiding vector square
Battle array Ax、AyExpression formula be written as:
Ax=[ax(θ1,φ1) ax(θ2,φ2) … ax(θK,φK)] (6)
Ay=[ay(θ1,φ1) ay(θ2,φ2) … ay(θK,φK)] (7)
For k-th of target, then have
ax(θk,φk)=[aX ,-M+1(θk,φk) … aX, -1(θk,φk) aX, 0(θk,φk) aX, 1(θk,φk) …
aX, M-1(θk,φk)]T
(8)
ay(θk,φk)=[aY ,-M+1(θk,φk) … aY, -1(θk,φk) aY, 0(θk,φk) aY, 1(θk,φk) …
aY, M-1(θk,φk)]T
(9)
According to the angled relationships of linear array 1, linear array 2 and reference axis, angle [alpha], expression formula of the β about azimuth and the elevation angle are obtained
Therefore it obtains
Wherein λkFor the wavelength of sound wave, i.e. spacing d between the adjacent array element of even linear array two is less than the half of acoustic signals
Wavelength, and speed v of the sound wave on detective path is unknown, therefore taking v is the minimum value in its range to determine λkValue.
Further, in the step S2,
According to the non-circular characteristic of transmitting signal, formula (3) is write as
Z=AzΦSR+Nz (13)
Since the non-circular signal echo of array received is also simultaneously narrow band signal, using the point of rotation as origin, AzExpression formula
It is written as:
Az=[az(θ1,φ1) az(θ2,φ2) … az(θK,φK)] (14)
For k-th of target, then have
az(θk,φk)=[aZ, 0(θk,φk) … aZ, M-1(θk,φk)]T (15)
Further, in the step S3,
It is reconstructed for linear array 1 and receives signal array Wx:
Wherein J is a row switching matrix,
Construct WxCovariance matrix Rw, it is expressed as
Wherein RsIt is source signal real part SRCovariance matrix,It is the variance of noise component(s), I2MFor (4M-2) × (4M-
2) unit matrix.
To covariance matrix RwEigenvalues Decomposition is carried out, signal subspace matrix is obtainedBecause of signal subspace UsWith Bx
Relationship have: span { Us}=span { Bx, therefore there are a non-singular matrix T to make UsT=Bx, define matrix T1=
[0(M-1)×1 IM-1]T2=[IM-1 0(M-1)×1] and row switching matrixO is (M- in formula
1) × M dimension null matrix,
Covariance matrix RwEstimated valueIt is obtained by sampling
Wherein L is number of snapshots,
BuildingAnd feature decomposition is carried out again, obtain orthogonal matrix:
Obtain characteristic parameter uk, k=1,2 ... K；
Linear array 2 and the corresponding characteristic parameter v of vertical linear array 3 can similarly be obtainedkAnd wk:
Further, the step S4 process is as follows:
Structural matrix Q=[X first1,Y1,Z]T=AS+NQ, NQNoise matrix, X are tieed up for corresponding 3M × L1For X (M,
2M-1) row data, Y1For (M, 2M-1) row data of Y, guiding vector matrix A is by Ax1, Ay1And AzIt constitutes
A=[Ax1,Ay1,Az]T (24)
Wherein, Ax1For Ax(M, 2M-1) row, Ay1For Ay(M, 2M-1) row；
Obtain the covariance matrix R of QQHave:
RQ=QQH (25)
To RQEigenvalues Decomposition is carried out, corresponding noise subspace U is obtainedNQ, since guiding vector matrix and noise are empty
Between there are orthogonality relations i.e.: AH·UNQ=o and construction cost function F
Construct guiding vector a (θi,φi)=[u, v, w]T, wherein u, v, w are the vectors that K × 1 is tieed up, and respectively three groups special
Value indicative parameter uk,vkAnd wkA kind of permutation and combination, be combined into K altogether3Guiding vector is organized, wherein the K group of cost function maximum value
Corresponding combination is the combination of parameter successful matching.
Further, the step S5 process is as follows:
For k-th of target, azimuth angle theta is found outkWith elevation angle φkEstimated value, according to linear array 1, linear array 2 and vertical line
Reception signal X, Y and the Z of battle array 3, and the corresponding parameter u of three sub- linear arrays is found out respectively using one-dimensional NC-ESPRIT algorithmk,vkWith
wk, k=1,2 ..., K obtain azimuth angle thetakWith elevation angle φkEstimation:
Second object of the present invention can be reached by adopting the following technical scheme that:
A kind of underwater DOA estimation device of two dimension based on non-circular signal and three-dimensional orthogonal battle array, the estimation device include
Data processing is connected to the control module transmitting module, receiving module, output mould with control module and respectively with data processing
Block and power module, wherein the data processing and control module include sequentially connected A/D converter, D/A converter and
Processor,
The transmitting module includes sequentially connected power amplifier, impedance matching circuit and ultrasonic wave transmitting probe,
It is connected by D/A converter with processor, the non-circular signal specified according to the instruction issue that processor issues；
The receiving module uses the array signal model of the orthogonal linear array of cross, and the array signal model is one
The combination of cross orthogonal linear array and vertical linear array 3, the orthogonal linear array of the cross are made of linear array 1 and linear array 2, wherein linear array 1
It is arranged in coordinate system x-axis, linear array 2 is arranged in coordinate system y-axis, and vertical linear array 3 is arranged in coordinate system z-axis, linear array 1 and line
Battle array 2 all respectively has 2M-1 reception array element, and vertical linear array 3 has M reception array element, and the average headway between all adjacent array elements is d；
The output module includes USB interface and display, the number that will be disposed in data processing and control module
According to being output to external device (ED) by USB interface or display is shown；
The power module respectively with data processing and control module, transmitting module, receiving module and output module phase
Connect and is powered.
Further, the linear array 1, linear array 2 and vertical linear array 3 are connected by the fixation bracket of plastic material.
The present invention has the following advantages and effects with respect to the prior art:
1, the present invention is based on the NC-ESPRIT algorithms of non-circular signal to be applied to the underwater Mutual coupling of two dimension, sufficiently benefit
With the non-circular characteristic of signal, the effect for being equivalent to array aperture extension can be obtained, so that underwater DOA estimated result is more smart
Really.Moreover, the increase of Virtual array is but also estimation method of the present invention can be estimated more under conditions of identical array number
More information source numbers.
2, compared with using traditional underwater two-dimension DOA algorithm, invention applies three-dimensional orthogonal uniform arrays, pass through 3
Angular relationship between a subarray and direction of arrival angle has eliminated this variable of the velocity of sound, so that last operation result and the velocity of sound
It is unrelated, velocity of sound deviation is eliminated, so that the accuracy of estimation is higher, the more advantage when unknown velocity of sound environment carries out DOA estimation.
3, apparatus of the present invention are improved in traditional measuring device, use three-dimensional orthogonal even linear array feasibility
By force, installation is simple.In addition to this, the continuous improvement of modern processors calculation processing ability, this makes place used in the present invention
The integrated level for managing the chips such as device is high, and computing capability is strong, to ensure that feasibility of the invention.
Detailed description of the invention
Fig. 1 is the hardware configuration module map of apparatus of the present invention；
Fig. 2 is the reception array element Yu processor connection schematic diagram of three subarrays in apparatus of the present invention；
Fig. 3 is the array element arrangement figure of three-dimensional orthogonal even linear array in apparatus of the present invention；
Fig. 4 is three-dimensional orthogonal uniform line array and object module schematic diagram in apparatus of the present invention；
Fig. 5 is the receipt signal model of uniform sub-line battle array in x-axis；
Fig. 6 is the underwater DOA estimation method flow chart of the two dimension based on non-circular signal and three-dimensional orthogonal battle array disclosed by the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment one
The present embodiment proposes a kind of underwater Mutual coupling of the two dimension based on non-circular signal and the uniform battle array of three-dimensional orthogonal
Method is handled by the reception signal to sub-line battle array uniform in three dimensions, is eliminated in two-dimentional DOA Mutual coupling
This factor of the velocity of sound, to eliminate influence of the underwater velocity of sound uncertainty to target location accuracy.Simultaneously because having chosen non-circular
Signal is emitted and is received, and estimation performance is significantly improved.
As shown in Fig. 6, in the present embodiment based on non-circular signal and three-dimensional orthogonal even linear array unknown velocity of sound environment into
Row underwater two-dimension DOA estimation method the following steps are included:
S1, the array signal model for establishing the orthogonal linear array of cross.Three-dimensional orthogonal linear array as shown in Figure 4 is placed, can be seen
Work is the combination of a cross orthogonal linear array and vertical linear array 3, and the sub-line battle array of the orthogonal linear array of cross is set to linear array 1 and linear array
2, wherein linear array 1 is arranged in coordinate system x-axis, and linear array 2 is arranged in coordinate system y-axis, and vertical linear array 3 is arranged in coordinate system z-axis
On.Linear array 1 and linear array 2 all respectively have 2M-1 reception array element, and vertical linear array 3 has M reception array element, between all adjacent array elements
Average headway is d.Centre frequency is f, and non-circular rate is the non-circular signal of ρ (0 ρ≤1 <) as transmitting signal, and synchronous signal meets
Narrowband condition, i.e., when signal delay is much smaller than inverse bandwidth, delayed-action, which is equivalent to, makes baseband signal generate a phase shift.With
Coordinate origin is reference point, it is assumed that submarine target total number is K, and the azimuth and the elevation angle of k-th target are represented by θkWith
φk(θk∈ [0, π],), while the angle of target and coordinate system x-axis and y-axis distinguishes αkAnd βk.Number of snapshots are L, line
The reception data matrix of battle array 1 and linear array 2 can be expressed as X and Y:
X=AxS+Nx (1)
Y=AyS+Ny (2)
Wherein S is the source signal matrix of K × L dimension, AxAnd AyIt is (2M-1) × K dimension guiding vector matrix, NxAnd NyIt is
The noise matrix of (2M-1) × L dimension；
Transmitting signal meets narrowband condition, i.e., when signal delay is much smaller than inverse bandwidth, delayed-action, which is equivalent to, makes base
Band signal generates a phase shift；
There is S=Φ S according to the non-circular characteristic of transmitting signalR, wherein SRFor the real part of source signal,For the non-circular phase for emitting signal, formula (1) and formula (2) are write
At
X=AxΦSR+Nx (3)
Y=AyΦSR+Ny (4)
Since the non-circular signal echo of array received is also simultaneously narrow band signal, using the point of rotation as origin, 2 guiding vectors
The expression formula of matrix is written as:
Ax=[ax(θ1,φ1) ax(θ2,φ2) … ax(θK,φK)] (5)
Ay=[ay(θ1,φ1) ay(θ2,φ2) … ay(θK,φK)] (6)
For k-th of target, then have
ax(θk,φk)=[aX ,-M+1(θk,φk) … aX, -1(θk,φk) aX, 0(θk,φk) aX, 1(θk,φk) …
aX, M-1(θk,φk)]T
(7)
ay(θk,φk)=[aY ,-M+1(θk,φk) … aY, -1(θk,φk) aY, 0(θk,φk) aY, 1(θk,φk) …
aY, M-1(θk,φk)]T
(8)
According to the angled relationships of linear array 1, linear array 2 and reference axis, angle [alpha], expression formula of the β about azimuth and the elevation angle are obtained
Therefore available
Wherein λkFor the wavelength of sound wave, i.e. spacing d between the adjacent array element of even linear array two is less than the half of acoustic signals
Wavelength.And speed v of the sound wave on detective path is unknown, therefore taking v is the minimum value in its range to determine λkValue.
S2, the array signal model for establishing vertical linear array.As shown in figure 4, vertical linear array 3 hasMA reception array element, vertical line
The reception data matrix of battle array 3 can be expressed as Z:
Z=AzS+Nz (12)
AzIt is M × K dimension guiding vector matrix, NzIt is the noise matrix of M × L dimension.It, will according to the non-circular characteristic of transmitting signal
Formula (12) is write as
Z=AzΦSR+Nz (13)
Since the non-circular signal echo of array received is also simultaneously narrow band signal, using the point of rotation as origin, AzExpression formula
It is written as:
Az=[az(θ1,φ1) az(θ2,φ2) … az(θK,φK)] (14)
For k-th of target, then have
az(θk,φk)=[aZ, 0(θk,φk) … aZ, M-1(θk,φk)]T (15)
S3, the corresponding information containing the velocity of sound of linear array 1, linear array 2 and vertical linear array 3 is found out using the DOA algorithm based on non-circular signal
Feature value parameter uk、vkAnd wk, k=1,2 ..., K；By taking linear array 1 as an example, it can reconstruct and receive signal array Wx:
Wherein J is a row switching matrix,
Construct WxCovariance matrix Rw, it is expressed as
Wherein RsIt is source signal real part SRCovariance matrix,It is the variance of noise component(s), I2MFor (4M-2) × (4M-
2) unit matrix.
To covariance matrix RwEigenvalues Decomposition is carried out, signal subspace matrix is obtainedBecause of signal subspace UsWith
BxRelationship have: span { Us}=span { Bx, therefore there are a non-singular matrix T to make UsT=Bx, define matrix T1=
[0(M-1)×1 IM-1]T2=[IM-1 0(M-1)×1] and row switching matrixO is (M- in formula
1) × M dimension null matrix.
In actual conditions, covariance matrix RwEstimated valueIt is obtained by sampling
Wherein L is number of snapshots,
BuildingAnd feature decomposition is carried out again, obtain orthogonal matrix:
Obtain characteristic parameter uk, k=1,2 ... K；Linear array 2 and the corresponding characteristic parameter v of vertical linear array 3 can similarly be obtainedkWith
wk:
S4, by three groups of feature value parameter (i.e. uk,vkAnd wk, k=1,2 ..., K) carry out parameter pairing；In order to realize three-dimensional
Three groups of parameter (i.e. u of arrayk,vkAnd wk, k=1,2 ..., K) successful pairing, the present embodiment, which uses, a kind of is based on subspace
3 parameters of projection angle are matched, the array configuration proposed suitable for the present embodiment；Structural matrix Q=[X first1,Y1,Z]T=
A·S+NQ(X1For (M, 2M-1) row data of X, Y1For (M, 2M-1) the row data of Y), wherein NQNoise is tieed up for corresponding 3M × L
Matrix, guiding vector matrix A is by Ax1(Ax(M, 2M-1) row), Ay1(Ay(M, 2M-1) row) and AzIt constitutes
A=[Ax1,Ay1,Az]T (24)
Obtain the covariance matrix R of QQHave:
RQ=QQH (25)
To RQEigenvalues Decomposition is carried out, corresponding noise subspace U is obtainedNQ, since guiding vector matrix and noise are empty
Between there are orthogonality relations i.e.: AH·UNQ=o andCost function F can be constructed
Construct guiding vector a (θi,φi)=[u, v, w]T, wherein u, v, w are the vectors that K × 1 is tieed up, and respectively three groups special
Value indicative parameter uk,vkAnd wkA kind of permutation and combination, K can be combined into altogether3Guiding vector is organized, wherein cost function maximum value
The corresponding combination of K group be parameter successful matching combination.
S5, the estimating two-dimensional direction-of-arrival solution for solving target, i.e., for k, k=1,2 ..., the azimuth angle theta of K targetkWith
Elevation angle φkEstimated value.For k-th of target, azimuth angle theta is found outkWith elevation angle φkEstimated value.According to connecing for three sub- linear arrays
The collection of letters X, Y and Z, and the corresponding parameter u of three sub- linear arrays is found out respectively using one-dimensional NC-ESPRIT algorithmk,vkAnd wk, k=
1,2,…,K.Therefore available azimuth angle thetakWith elevation angle φkEstimation:
Embodiment two
Present embodiment discloses a kind of underwater one-dimensional DOA estimations based on non-circular signal and three-dimensional orthogonal even linear array to fill
It sets, the estimation device includes data processing and control module, transmitting module, receiving module, output module and power module,
Specific structure is as depicted in figs. 1 and 2.
Data processing and control module are made of a pair of of multichannel A/D, D/A converter and a processor, are whole devices
Core, other all modules are all connected directly with it.It can control transmitting module, specify transmitting module transmitting
Signal；The signal come can be transmitted through to receiving module simultaneously to handle, algorithm through the invention calculates direction of arrival angle,
Then output module is transmitted the result to.
Receiving module includes 3 array ultrasonic probes put with proportional spacing.Attached drawing 2 is array apparatus connection figure,
As shown, linear array 1, linear array 2 and vertical linear array 3 link together.
Transmitting module is made of sequentially connected power amplifier, impedance matching circuit and ultrasonic wave transmitting probe, is passed through
D/A converter is connected with processor, the specified signal of the instruction issue that can be issued according to processor.
Output module is made of a USB interface and a display, and with data processing and control module and power supply
Module is connected.It is capable of providing human-computer interaction, and the data handled well in data processing and control module are exported by USB interface
It shows to external device (ED) or over the display.
Power module is connected with data processing with control module, transmitting module, receiving module and output module respectively goes forward side by side
Row power supply.
Receiving module use the orthogonal linear array of cross array signal model, the array signal model be a cross just
The combination of intersection battle array and vertical linear array 3, the orthogonal linear array of the cross are made of linear array 1 and linear array 2, wherein linear array 1 is arranged in
In coordinate system x-axis, linear array 2 is arranged in coordinate system y-axis, and vertical linear array 3 is arranged in coordinate system z-axis, and linear array 1 and linear array 2 are all
Respectively there is 2M-1 reception array element, vertical linear array 3 has M reception array element, and the average headway between all adjacent array elements is d.
Because receiving module can be placed in water, fixed bracket uses plastic material to increase buoyancy.
The main working process of apparatus of the present invention is as follows: according to the signal parameter for wanting transmitting during actual measurement, passing through
Data processing parameter corresponding with control module input makes processor generate corresponding digital signal, after then being converted by D/A
It is transmitted to transmitting module, ultrasonic wave transmitting probe can generate the signal needed and be emitted.Receiving array in receiving module
It receives and is converted into it after digital signal by A/D after the reflected signal of target sound source to be sent to processor, then locate
It manages device and result is calculated according to underwater DOA estimation method.Calculated result is transmitted to output mould by final data processing and control module
Result is transmitted to external equipment by USB interface or is shown by display by block, output module.Power module is all
Other module for power supply.
Embodiment three
The present embodiment specifically discloses a kind of underwater one-dimensional DOA estimation dress based on non-circular signal and three-dimensional orthogonal even linear array
It sets, including data processing and control module, transmitting module, receiving module, output module and power module.Data processing and control
Module can realize that (such as: the dsp chip of TI company's T MS320VC5509A model) this dsp chip can realize A/D with dsp chip
The function of conversion and D/A conversion, and can be realized the calculating of final direction of arrival；3 uniform arrays assemble as shown in Figure 3；Hair
It penetrates module and uses a ultrasonic wave transmitting probe；Output module uses a USB interface and a LCD display.Fig. 1 is this
The hardware configuration module map of invention described device.
Groundwork step of the invention is specific as follows:
Step T1, specific device is connected by Fig. 2, wherein the element number of array in the linear array 1 and linear array 2 in receiving module is fixed
It is 15, the element number of array in vertical linear array 3 is set to 8.Linear array 1, linear array 2 and vertical linear array 3 are even linear arrays.At data
Reason sends with control module and instructs, control ultrasound emission probe transmitting ultrasonic signal s (t), and it is 20 ° that transmitting signal, which is initial phase,
The bpsk signal of non-circular rate ρ=1, the frequency of signal are fs=10kHz, pulse length 5ms；Velocity of sound range is substantially in seawater
1430m/s-1550m/s, then taking the minimum velocity of sound is 1430m/s, can find out a length of 7.15cm of minimum half-wave.Any two adjacent lines
The distance between battle array is necessarily less than 7.15cm, and array element spacing can be arbitrarily chosen in the case where meeting this restrictive condition, so setting
The average headway of 2 adjacent array element is 5cm in linear array, i.e. first array element and the last one array element is separated by 35cm.It puts under water
A target sound source is set, the two-dimentional incident angle for being incident on three-dimensional orthogonal uniform array is (60 °, 45 °).
Step T2, the target sound source signal received to ultrasonic reception probe linear array samples；Even linear array 1 receives
Signal be x1(t),x2(t),…,x15(t), 2 received signal of even linear array is y1(t),y2(t),…,y15(t), uniform line
3 received signals of battle array are z1(t),z2(t),…,z8(t).Sampling receives 200 times altogether, and the signal received is passed to data
Processing is analyzed and processed with control module.
Step T3, analysis processing step of the signal in processing module is specific as follows:
1) receipt signal matrix X, Y and Z of 3 even linear arrays are obtained respectively according to the signal that receives, then with being based on
The one-dimensional NC-ESPRIT algorithm of non-circular signal finds out corresponding parameter uk、vkAnd wk, k=1,2 ..., K.
2) the parameter u found out is utilizedk、vkAnd wk, k=1,2 ..., K carry out the pairing of 3 groups of parameters.Most according to cost function
Big value principle, to parameter uk、vkAnd wk, k=1,2 ..., K carry out full combination traversal, each combination all according to cost function into
Row compares, the combination corresponding for maximum K value, the as combination of successful matching.
3) the estimating two-dimensional direction-of-arrival solution for solving target finds out target angle θ that is, for k-th of targetkEstimation
Value.Using the parameter of successful matching, according to formula (27) find out respectively total K two dimensional angle (azimuth angle theta and
Elevation angle φ), and this result estimated is stored.
Step T4, the final estimated result after average value will be acquired and send output module to, it is defeated to make it through USB interface
It to external device (ED) or is shown on LCD display out.According to the method and apparatus that this patent proposes, target state estimator result is
(58.86 °, 45.21 °), have reached expected precision, have illustrated that estimated result is correct, the method for the present invention and device are feasible.
In conclusion above-described embodiment is to overcome the problems, such as signal rapid decay in Underwater Acoustic Environment, by by non-circular letter
It number is applied in underwater DOA estimation, using the NC-ESPRIT algorithm based on non-circular signal, to promote estimation performance.It is above-mentioned simultaneously
Embodiment uses a three-dimensional orthogonal even linear array as receiving array, root to eliminate estimated bias caused by velocity of sound influence
Underwater DOA is further improved using the arrival direction estimation expression formula unrelated with the velocity of sound according to the angular relationship between linear array
Estimated accuracy.The advantages of present invention incorporates non-circular signals has carried out sound using three-dimensional orthogonal even linear array in conjunction with underwater environment
The unrelated optimization of speed, estimated accuracy is high, has stronger practicability.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (8)
1. a kind of underwater DOA estimation method of two dimension based on non-circular signal and three-dimensional orthogonal battle array, which is characterized in that the estimation
Method includes:
S1, the array signal model for establishing the orthogonal linear array of cross, the array signal model be the orthogonal linear array of a cross and
The combination of vertical linear array 3, the orthogonal linear array of the cross are made of linear array 1 and linear array 2, wherein linear array 1 is arranged in coordinate system x
On axis, linear array 2 is arranged in coordinate systemyOn axis, vertical linear array 3 is arranged in coordinate system z-axis, and linear array 1 and linear array 2 all respectively have 2M-1
A reception array element, vertical linear array 3 haveMA reception array element, the average headway between all adjacent array elements ared, it is by centre frequencyf,
Non-circular rate is ρ, and the non-circular signal of 0 ρ≤1 < is as transmitting signal, while non-circular signal meets narrowband condition, i.e., when non-circular signal
When delay is much smaller than inverse bandwidth, delayed-action, which is equivalent to, makes baseband signal generate a phase shift, is reference with coordinate origin
Point, it is assumed that submarine target total number is K, and the azimuth and the elevation angle of k-th target are expressed as θkAnd φk, θk∈ [0, π],Target and coordinate system simultaneouslyxAxis and the angle of y-axis distinguish αkAnd βk, number of snapshots L, linear array 1 and linear array 2 connect
It receives data matrix and is expressed as X and Y:
X=AxS+Nx (1)
Y=AyS+Ny (2)
Wherein S is the source signal matrix of K × L dimension, AxAnd AyIt is (2M-1) × K dimension guiding vector matrix, NxAnd NyIt is (2M-
1) × L dimension noise matrix；
S2, the array signal model for establishing vertical linear array 3, vertical linear array 3 haveMA reception array element, the reception data of vertical linear array 3
Matrix can be expressed as Z:
Z=AzS+Nz (3)
AzIt is M × K dimension guiding vector matrix, NzIt is the noise matrix of M × L dimension；
S3, the spy that the corresponding information containing the velocity of sound of linear array 1, linear array 2 and vertical linear array 3 is found out using the DOA algorithm based on non-circular signal
Value indicative parameter uk、vkAnd wk, k=1,2 ..., K；
S4, three groups of feature value parameter u are carried out using subspace projection angle matched pair techniquek,vkAnd wk, k=1,2 ..., the pairing of K；
S5, the estimating two-dimensional direction-of-arrival solution for solving target, i.e., for kth, k=1, the azimuth angle theta of 2 ..., K targetkWith face upward
Angle φkEstimated value.
2. the underwater DOA estimation method of the two dimension according to claim 1 based on non-circular signal and three-dimensional orthogonal battle array, feature
It is, in the step S1,
There is S=Φ S according to the non-circular characteristic of transmitting signalR, wherein SRFor the real part of source signal, For the non-circular phase for emitting signal, formula (1) and formula (2) are write
At
X=AxΦSR+Nx (4)
Y=AyΦSR+Ny (5)
Since the non-circular signal echo of array received is also simultaneously narrow band signal, using the point of rotation as origin, guiding vector matrix Ax、
AyExpression formula be written as:
Ax=[ax(θ1,φ1) ax(θ2,φ2)…ax(θK,φK)] (6)
Ay=[ay(θ1,φ1) ay(θ2,φ2)…ay(θK,φK)] (7)
For k-th of target, then have
ax(θk,φk)=[aX ,-M+1(θk,φk)…aX, -1(θk,φk) aX, 0(θk,φk) aX, 1(θk,φk)…aX, M-1(θk,
φk)]T(8)
ay(θk,φk)=[aY ,-M+1(θk,φk)…aY, -1(θk,φk)aY, 0(θk,φk)aY, 1(θk,φk)…aY, M-1(θk,φk)]T
(9)
According to the angled relationships of linear array 1, linear array 2 and reference axis, angle [alpha], expression formula of the β about azimuth and the elevation angle are obtained
Therefore it obtains
Wherein λkFor the half-wavelength that the wavelength of sound wave, i.e. spacing d between the adjacent array element of even linear array two are less than acoustic signals,
And speed v of the sound wave on detective path is unknown, therefore taking v is the minimum value in its range to determine λkValue.
3. the underwater DOA estimation method of the two dimension according to claim 2 based on non-circular signal and three-dimensional orthogonal battle array, feature
It is, in the step S2,
According to the non-circular characteristic of transmitting signal, formula (3) is write as
Z=AzΦSR+Nz (13)
Since the non-circular signal echo of array received is also simultaneously narrow band signal, using the point of rotation as origin, AzExpression formula be written as:
Az=[az(θ1,φ1) az(θ2,φ2)…az(θK,φK)] (14)
For k-th of target, then have
az(θk,φk)=[aZ, 0(θk,φk)…aZ, M-1(θk,φk)]T (15)
4. the underwater DOA estimation method of the two dimension according to claim 3 based on non-circular signal and three-dimensional orthogonal battle array, feature
It is, in the step S3,
It is reconstructed for linear array 1 and receives signal array Wx:
Wherein J is a row switching matrix,
Construct WxCovariance matrix Rw, it is expressed as
Wherein RsIt is source signal real part SRCovariance matrix,It is the variance of noise component(s), I2MFor (4M-2) × (4M-2's)
Unit matrix；
To covariance matrix RwEigenvalues Decomposition is carried out, signal subspace matrix is obtainedBecause of signal subspace UsWith BxPass
System has: span { Us}=span { Bx, therefore there are a non-singular matrix T to make UsT=Bx, define matrix T1=[0(M-1)×1
IM-1]T2=[IM-1 0(M-1)×1] and row switching matrixO is (M-1) × M dimension in formula
Null matrix,
Covariance matrix RwEstimated valueIt is obtained by sampling
Wherein L is number of snapshots,
BuildingAnd feature decomposition is carried out again, obtain orthogonal matrix:
Obtain characteristic parameter uk, k=1,2 ... K；
Linear array 2 and the corresponding characteristic parameter v of vertical linear array 3 can similarly be obtainedkAnd wk:
5. the underwater DOA estimation method of the two dimension according to claim 4 based on non-circular signal and three-dimensional orthogonal battle array, feature
It is, the step S4 process is as follows:
Structural matrix Q=[X first1,Y1,Z]T=AS+NQ, NQNoise matrix, X are tieed up for corresponding 3M × L1For (M, the 2M- of X
1) row data, Y1For (M, 2M-1) row data of Y, guiding vector matrix A is by Ax1, Ay1And AzIt constitutes
A=[Ax1,Ay1,Az]T (24)
Wherein, Ax1For Ax(M, 2M-1) row, Ay1For Ay(M, 2M-1) row；
Obtain the covariance matrix R of QQHave:
RQ=QQH (25)
To RQEigenvalues Decomposition is carried out, corresponding noise subspace U is obtainedNQ, since guiding vector matrix is deposited with noise subspace
Orthogonality relation i.e.: AH·UNQ=o andConstruct cost function F
Construct guiding vector a (θi,φi)=[u, v, w]T, wherein u, v, w are the vector that K × 1 is tieed up, respectively three groups of characteristic values
Parameter uk,vkAnd wkA kind of permutation and combination, be combined into K altogether3Group guiding vector, wherein the K group institute of cost function maximum value is right
The combination answered is the combination of parameter successful matching.
6. the underwater DOA estimation method of the two dimension according to claim 5 based on non-circular signal and three-dimensional orthogonal battle array, feature
It is, the step S5 process is as follows:
For k-th of target, azimuth angle theta is found outkWith elevation angle φkEstimated value, according to linear array 1, linear array 2 and vertical linear array 3
Signal X, Y and Z are received, and finds out the corresponding parameter u of three sub- linear arrays respectively using one-dimensional NC-ESPRIT algorithmk,vkAnd wk,k
=1,2 ..., K obtain azimuth angle thetakWith elevation angle φkEstimation:
7. a kind of underwater DOA estimation device of two dimension based on non-circular signal and three-dimensional orthogonal battle array, which is characterized in that the estimation
Device includes data processing and control module and is connected to the control module transmitting module with data processing respectively, receives mould
Block, output module and power module, wherein the data processing and control module includes sequentially connected A/D converter, D/
A converter and processor,
The transmitting module includes sequentially connected power amplifier, impedance matching circuit and ultrasonic wave transmitting probe, is passed through
D/A converter is connected with processor, the non-circular signal specified according to the instruction issue that processor issues；
The receiving module uses the array signal model of the orthogonal linear array of cross, and the array signal model is a cross
The combination of orthogonal linear array and vertical linear array 3, the orthogonal linear array of the cross are made of linear array 1 and linear array 2, wherein linear array 1 is arranged
In in coordinate system x-axis, linear array 2 is arranged in coordinate system y-axis, and vertical linear array 3 is arranged in coordinate system z-axis, linear array 1 and linear array 2
All respectively there is 2M-1 reception array element, vertical linear array 3 has M reception array element, and the average headway between all adjacent array elements is d；
The output module includes USB interface and display, and the data being disposed in data processing and control module are led to
Cross that USB interface is output to external device (ED) or display is shown；
The power module is connected simultaneously with data processing with control module, transmitting module, receiving module and output module respectively
It is powered.
8. the underwater DOA estimation device of the two dimension according to claim 7 based on non-circular signal and three-dimensional orthogonal battle array, feature
It is, the linear array 1, linear array 2 and vertical linear array 3 are connected by the fixation bracket of plastic material.
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