CN109765562A - A kind of three-dimensional looking forward sound sonar system and method - Google Patents
A kind of three-dimensional looking forward sound sonar system and method Download PDFInfo
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Abstract
The present invention proposes a kind of three-dimensional looking forward sound sonar (3DFLS) system and method, the system comprises acoustic sound room, transmitting linear array, receives battle array and data processing module；Emit battle array by changing vertically to transmitting aperture, adjusts vertically to launching beam width, realize shallow-water environment detection；Receiving battle array includes that multilayer receives circular array, and interlamellar spacing is identical, and every layer of reception circular array is arranged multiple reception primitives at equal intervals, and the reception circular array is attached to acoustic sound room bottom；Data processing module is placed in acoustic sound room body, for handling transmitting battle array and receiving the detection data of battle array.The method includes transmitting battle arrays to set launching beam by data processing module, carries out the stable processing of launching beam and receives battle array to handle echo data, calculate the coordinate of scattering point in three dimensions, obtain three-dimensional acoustic imaging.The present invention uses the adjustable launch scenario of beam angle, more preferably adapts to different water body environments, to promote the Effect on Detecting of 3DFLS, improve the adaptability for environment.
Description
Technical field
The present invention relates to marine acoustics equipment technology fields, specifically, more particularly to a kind of three-dimensional looking forward sound sonar
System.
Background technique
Increasing with mankind's Activities of Ocean, the detection and imaging of submarine target become the main of Recent study
One of direction.Three-dimensional looking forward sonar (3DFLS) is mainly used for barrier, target and sea in front of carrier detection in three-dimensional space
Bottom, the important acoustic imaging sonar being mounted on underwater carrier.From the point of view of the scanning form of Wave beam forming, existing 3DFLS can
To be divided into mechanical scanning type and electronic scanning type two major classes: mechanical scanning type 3DFLS completes level in the way of machinery rotation
Scanning and then completion underwater 3 D with vertical two dimensions are rebuild, and the simple imaging efficiency of the type general structure is low；Electronics is swept
The formula 3DFLS of retouching can be divided into again based on it is one-dimensional receive linear array 3DFLS, the 3DFLS based on two-dimensional array and beam-forming technology and
3DFLS based on two-dimensional array Yu Mutual coupling technology.Due to sparse processing so that planar array design is optimised, adopt
Become current main product, but the Data processing of such sonar with the 3DFLS based on two-dimensional array of beam-forming technology
Using the method for conventional beamformer, angular resolution is influenced by array aperture, i.e. beam angle, is intended to obtain high-resolution
Acoustic imaging then needs the sonar of larger aperture；It is different that direction beam angle is differently directed in conventional beamformer, it is every in actual detection
A wave beam result corresponds to different physical sizes, the final acoustic imaging effect of General Influence at same distance.
Summary of the invention
When using the method for conventional beamformer it is an object of the invention to solve the data processing of sonar in the prior art
Angular resolution is influenced by array aperture, that is, beam angle, direction beam angle different problems is differently directed, to be promoted
The Effect on Detecting of 3DFLS improves it for the adaptability of environment.To achieve the above object, the present invention proposes a kind of high-resolution
Three-dimensional looking forward sound sonar system, including acoustic sound room, transmitting battle array and reception battle array emit the corresponding hair of each transmitting primitive in battle array
Machine is penetrated, receives the corresponding receiver of each reception primitive in battle array, which is characterized in that the system also includes data processing moulds
Block；
The transmitting primitive of the transmitting battle array is axially in alignment arrangement along acoustic sound room, is tightly attached to acoustic sound room outer wall, for adjusting
Vertically to launching beam width, shallow-water environment detection is realized；
The reception battle array includes that multilayer receives circular array, and interlamellar spacing is identical, and every layer of reception circular array is arranged multiple at equal intervals
Primitive is received, the reception circular array is attached to acoustic sound room bottom；
The data processing module is placed in acoustic sound room body, for handling transmitting battle array and receiving the detection data of battle array.
Based on the high-resolution three-dimension looking forward sound sonar system, the present invention also proposes a kind of three-dimensional looking forward acoustic imaging
Method, which comprises
Step 1) the transmitting battle array sets launching beam by data processing module, using wave beam antihunt means, according to load
The variation of body posture calculates the opposite variation of transmitting primitive position in real time, converts time delay for change in location, carry out in time domain
Launching centre is stable on transmitting predetermined direction by compensation, is handled to complete stablizing for launching beam；
Step 2) the reception battle array is filtered and demodulates pretreatment to received echo data by data processing module,
Every layer of primitive horizontal direction forms the reception wave beam of multiple center cell normal directions for being oriented to submatrix；Carry out the pulse of wave beam
Compression processing carries out Sources number estimation and Mutual coupling to each layer same level direction beam signal in vertical plane, in conjunction with
Echo arrival time calculates the coordinate of scattering point in three dimensions, obtains three-dimensional acoustic imaging.
As a kind of improvement of the method, the step 1) is specifically included:
Step 1-1) set the broad beam covering pattern of single pulse signal or the narrow beam covering pattern of multipulse signal；It is logical
The number for crossing the transmitting primitive used when setting work determines the transmitting of different in width wave beam；
Step 1-2) according to carrier yaw angle in certain t moment horizontal planeAngle of Trim P (t), roll angle R (t), transmitting
Primitive initial coordinate T0, calculating carrier, there are the coordinate T after attitudes vibration；
The yaw angleThe angle for deviateing track direction for carrier stem direction in horizontal plane, above carrier,
Carrier stem deviates track direction clockwise and is positive；
The Angle of Trim P (t) is the longitudinal angle with horizontal plane of carrier, and above carrier, carrier stem, which is lifted, to be positive；
The roll angle R (t) is carrier laterally with the angle of horizontal plane, and above carrier, carrier left-half is lifted
It is positive；
The transmitting battle array primitive initial coordinate T0=(X0,Y0,Z0)；
The carrier is T=(X, Y, Z) there are the coordinate after t moment attitudes vibration:
T=Γ * T0 (1)
Indicate the correction matrix of t moment yaw angle, ΓP(t) correction matrix of t moment Angle of Trim, Γ are indicatedR(t)
Indicate that the correction matrix of t moment roll angle, Γ (t) indicate the coordinate conversion matrix under t moment posture；
Step 1-3) calculate delay volume t of n-th um primitive relative to reference pointn:
Wherein, emit and be divided into d between battle array primitive, linear array vertically to primitive number be Num, c is the velocity of sound,For launching beam
Predetermined direction vector and there are angles between the direction vector of the transmitting battle array of attitudes vibration；
Step 1-4) t moment reference point transmitting signal is set as s0(t), then the transmitting of p-th of primitive is believed after compensation of delay
Number are as follows:
snum(t)=s0(t-tnum) (4)
Step 1-5) to each transmitting primitive carry out windowing process after form launching beam:
Wherein, wnumFor the window function coefficient of n-th um primitive:
wnum=chebwin (N, β) (5)
Wherein, β indicates that main lobe is higher than secondary lobe dB value.
As a kind of improvement of the method, the step 2) includes:
Step 2-1) it the original AD data that primitive obtains will be received filters out out-of-band noise, retain the letter near centre frequency
Number, the signal after obtaining anti-aliasing filter；
Step 2-2) by after anti-aliasing filter signal demodulate, according to different emission modes respectively with one or N number of in
The carrier signal of frequency of heart is corresponding to be multiplied；
Step 2-3) low-pass filtering is carried out, band component extra in spectrum signal after demodulating is filtered out, near baseband is retained
Frequency component, obtain baseband signal；
Step 2-4) baseband signal passes through Wave beam forming, and enhance the beam signal from some direction, decays it
The beam signal in his direction forms the multiple reception wave beams for being differently directed direction；If emission mode is broad beam emission mode,
Execute step 2-5)；If emission mode is narrow beam mode and needs to carry out high-resolution detection to target in narrow beam,
Execute step 2-5)；If emission mode is narrow beam mode but does not need to carry out to hold when the high-resolution detection of target in wave beam
Row step 2-6)；
Step 2-5) Sources number estimation and Bo Da passed through in wave beam by the process of pulse-compression of wave beam and vertical plane
Direction estimation finds out vertical direction incidence angleExecute step 2-7)；
Step 2-6) directional angle of launching beam is equivalent to vertical direction incidence angleReceive the directional angle of wave beam
It is equivalent to azimuth angle theta0, execute step 2-7)；
Step 2-7) calculate three-dimensional coordinate obtain three-dimensional acoustic imaging.
As a kind of improvement of the method, the step 2-1) specifically:
According to signal band width and sample frequency, parameter needed for setting generates frequency overlapped-resistable filter includes filter order
MantiCutoff frequency ωn, and obtain MantiRank frequency overlapped-resistable filter coefficient banti:
banti=fir1 (Manti,ωn) (7)
The initial data that primitive obtains will be received and input frequency overlapped-resistable filter, the signal after obtaining anti-aliasing filter
ADdata_banti(n), wherein n indicates n-th of sampled point, banti(manti) indicate mantiRank filter coefficient:
As a kind of improvement of the method, the step 2-2) it specifically includes:
Step 2-2-1) by the signal ADdata_b after anti-aliasing filteranti(n), according to emission mode and transmitting signal
Centre frequency fcIt is demodulated to obtain:
In formula, ωcTo normalize the numerical frequency for being followed by the collection of letters number, fcTo receive signal center frequency, fsFor current demand signal
Sample frequency, y (n) are the mixed frequency signal after demodulation, and Y (ω) is frequency spectrum designation.
As a kind of improvement of the method, the step 2-3) specifically: it will be in the mixed frequency signal y (n) after demodulation
Extra band component filters out, and obtains baseband signal s (n):
Wherein, blow(mlow) it is mlowRank low-pass filter coefficients, MlowFor low-pass filter order.
As a kind of improvement of the method, the step 2-4) it specifically includes:
Step 2-4-1) baseband signal after the low-pass filtered output of M adjacent pixel of single layer is chosen, with circular array
The center of circle is reference point, and the reception data that m receives primitive t moment are expressed as sm(t):
sm(t)=Am*s0(t-τm) (16)
τm=R*cos (θ-αm)/c (17)
Wherein AmFor the amplitude response of m primitive, s0(t) signal exported after low-pass filtered for reference point, τmIt is
Time delay of the m primitive relative to reference point, θ are signal echo direction, and c is the velocity of sound, αmIt is corresponding for m primitive position
Central angle:
αm=(m-1) * αper (18)
Adjacent pixel corresponds to central angle size αper:
αper=2*arcsin (d/ (2*R)) (19)
Wherein R is circular array radius, distance of the d between adjacent pixel central point；For θ in the horizontal direction0It is obtained on direction
Maximum sensitivity forms the wave beam Rec_BF for being oriented to the directioni,j(t), delay compensation time delay, compensation need to be carried out to array element
The reception data of m primitive t moment, which are carved, afterwards indicates are as follows:
sm(t)=Am*s0(t-τm+τ′m) (20)
τ′m=R*cos (θ0-αm)/c (21)
τ′mIndicate the delay compensation amount of m primitive.
Step 2-4-2) to Wave beam forming progress windowing process is received, m primitive window function coefficient is bm:
bm=chebwin (Msub, β) and (22)
Wherein MsubFor window length, β indicates that main lobe is higher than secondary lobe dB value, after each increase delay compensation, windowing process
The reception signal of primitive is cumulative, and wave beam result is represented by Rec_BFi,j(t):
Wherein i ∈ [1, L] is i-th layer of receiving array, and total L layers of receiving array, j is wave beam number, Rec_BFi,jIt is i-th layer
Receiving array is formed by j-th of reception wave beam.
As a kind of improvement of the method, the step 2-5) it specifically includes:
Step 2-5-1) when emit signal be linear FM signal when to receive Wave beam forming after result carry out pulse pressure
Contracting, if original transmitted signal sL(t) are as follows:
B is the bandwidth of original transmitted signal, and τ is the pulsewidth of original transmitted signal；
Step 2-5-2) by wave beam Rec_BFi,jEmit signal s with localL(t) i-th layer of reception is obtained as computing cross-correlation
The jth wave beam Rec_BF of circular arrayi,j(t) the compressed result Comp of pulse is carried outi,j(t):
Superscript " * " indicates conjugation；
Step 2-5-3) it chooses in Wave beam forming or compressed equivalent several channel datas progress wave beam of pulse
DOA wave specifically includes up to estimation and carries out vertical direction incidence angular estimation using the multiple signal classification algorithm based on feature decomposition
Or invariable rotary Subspace algorithm carries out vertical direction incidence angular estimation and obtains the vertical direction incidence angle of incident target signal
As a kind of improvement of the method, the step 2-7) it include: according to signal pitch angleAzimuth angle theta0, return
Wave arrival time n0With signal sampling frequencies fs, two-dimensional plane coordinate x, y and height value z that the target point is calculated be respectively as follows:
Present invention has an advantage that
1, three-dimensional looking forward sound sonar system of the invention uses the adjustable launch scenario of beam angle, more preferably adapts to not
Same water body environment；
2, three-dimensional looking forward sound sonar system of the invention is received is designed using circular array, and each horizontal direction beam angle is permanent
Fixed, horizontal direction Wave beam forming can greatly reduce the calculation amount of algorithm realization；
3, in three-dimensional looking forward sound sonar system reception of the invention processing, vertical direction uses Mutual coupling skill
Art reduces the limitation of the dimension basic matrix aperture to imaging resolution, reduces primitive number；
4, three-dimensional looking forward sound sonar system of the invention uses the design of compact, emits receiving array and acoustics electronics
Part is arranged in the same cylindrical type cabin unit, is optimized volume and is reduced water body resistance influence.
Detailed description of the invention
Fig. 1 (a) is sonar array structural perspective of the invention；
Fig. 1 (b) is sonar array structure top view of the invention；
Fig. 1 (c) is sonar array circular array partial enlarged view of the invention；
Fig. 2 is sonar system schematic diagram of the invention；
Fig. 3 is the signal processing flow figure of broad beam emission mode of the present invention；
Fig. 4 is the signal processing flow figure of narrow beams transmission mode of the present invention；
Fig. 5 (a) is sonar array embodiment perspective view of the invention；
Fig. 5 (b) is sonar array embodiment top view of the invention；
Fig. 5 (c) is sonar array embodiment circular array partial enlarged view of the invention；
Fig. 6 is wave beam stable algorithm flow chart of the invention；
Fig. 7 is vertically to receive wave beam schematic diagram to multilayer in reception circular array example of the invention；
Fig. 8 is that arrival bearing estimates schematic diagram in wave beam.
Specific embodiment
The present invention will be described in detail in the following with reference to the drawings and specific embodiments.
3DFLS proposed by the present invention suitable for complex environment, main includes emitting linear array, receiving battle array and set based on array
The data processing module of meter.
As shown in Fig. 1 (a), Fig. 1 (b) and Fig. 1 (c), a burst of interior corresponding hair of each transmitting primitive of transmitting front
Penetrate machine.
The transmitting linear array is made of at equal intervals multiple circular arc type primitives, by changing vertical transmitting aperture, is adjusted
Vertically to launching beam width, the detection compared with the different coverage areas in shallow-water environment is realized.
The reception battle array is made of multilayer circular array, and interlamellar spacing is identical；The equally spaced multiple primitives of arrangement of every layer of circular array.
High-resolution three-dimensional looking forward sound sonar system of the present invention is generally streamlined: the transmitting linear array is tight
It is affixed on acoustic sound room outer wall, circular array is attached to acoustic sound room bottom, the data processing module is placed in acoustic sound room body for reception.
Based on this structure, the sonar system schematic diagram of three-dimensional looking forward sound sonar system of the present invention as shown in Fig. 2,
The data processing module includes transmitting processing submodule and reception processing submodule；
The transmitting handles submodule, for determining emission mode, realizing that launching beam is stable and launching beam is formed.Its
In, emission mode includes the broad beam covering pattern of single pulse signal and the narrow beam covering pattern of multipulse signal.Specific packet
Include emission mode determination unit, launching beam stablizes processing unit and launching beam forms unit.
The reception handles submodule, for receive data be filtered with the pretreatments such as demodulation, pass through conventional wave beam
Formation technology is formed, and at multiple reception wave beams for being oriented to different level direction and acquires azimuth to every layer of reception formation, is led to
The process of pulse-compression and vertical plane for crossing wave beam are found out in wave beam by Sources number estimation and Mutual coupling technology
Pitch angle, and echo arrival time is combined, the coordinate of scattering point in three dimensions is calculated, three-dimensional acoustic imaging is obtained.
The data processing module mainly includes to carry out echo data processing for two kinds of different emission modes.
As shown in figure 3, for the broad beam mode of single pulse signal, using linear FM signal, by emitting linear array, hair
Penetrate the wave beam of one fixed width.Data prediction is received to each primitive first in reception processing.Pass through conventional beamformer, single afterwards
The reception data for only choosing M adjacent pixel of single layer, form a wave beam for being oriented to its center cell normal direction；Successively
The reception data of M adjacent pixel of different location are chosen, multiple wave beams of orientation different directions are formed；Different reception wave beams
In formation, delay, weighting coefficient are identical.Each received wave binding fruit is carried out at pulse compression by the method for matched filtering
Reason.In horizontal direction equal angular, vertically to multilayer receive in wave beam and asked by Sources number estimation and Mutual coupling technology
Out vertically to angle.The azimuth obtained by the above process and pitch angle, in conjunction with echo arrival time, calculate three-dimensional coordinate and obtain
Three-dimensional acoustic imaging.
As shown in figure 4, for the narrow beam mode of multipulse signal, using simple pulse signal, by emitting linear array, hair
Penetrate the wave beam of one fixed width.In received data prediction, demodulation filtering is carried out to the pulse signal of different frequency respectively, separated
Receive the pulse signal of different frequency in signal.Beam forming process processing is same as above.Sources number estimation and Mutual coupling side
Method is same as above, and when without carrying out high-resolution detection to target in narrow beam, can omit this step.
The three-dimensional looking forward sound sonar processing system proposed according to the present invention, in conjunction with specific example respectively to signal processing
Process is further described.
It is sonar array structural schematic diagram of the invention as shown in Fig. 1 (a), which is mainly used for small range of sound
Detection is learned, transmitting linear array horizontal direction investigative range is about 120 °, receives circular array horizontal direction beam coverage and is all larger than
90°。
In actual detection, array structure can be adjusted as needed, realizes wider detection, such as Fig. 5 (a), 5 (b) and 5
(c) shown in, 3 transmitting linear arrays (being equidistantly attached at acoustic sound room outer wall), transmitting is selected to receive circular array primitive covering central angle
When being 360 °, the water body detection of 360 ° omni-directional may be implemented.
The transmitting processing module mainly includes that launching beam stablizes processing unit.It is made for extraneous factors such as water body resistances
At sonar pose problem, using launching beam stable algorithm, to enhance the applicability of sonar array.
As shown in fig. 6, the algorithm flow chart is by calculating the transmitting primitive position due to caused by attitudes vibration in real time
Variation, by converting time delay for change in location, compensates each transmission channel, makes the central stabilizer of launching beam in hair
It penetrates on orientation direction.WithIt indicates the yaw angle of t moment, indicates that track direction is deviateed in carrier stem direction in the horizontal plane
Angle, as viewed from above carrier, carrier stem deviates the setting of track direction clockwise and is positive；The trim of t moment is indicated with P (t),
Indicate the longitudinal angle with horizontal plane of carrier, above carrier, carrier stem, which is lifted, to be positive；The cross of t moment is indicated with R (t)
Rolling indicates carrier laterally with the angle of horizontal plane, and above carrier, carrier left-half, which is lifted, to be positive.When there are appearances for carrier
When state changes, emit battle array primitive initial coordinate T0=(X0,Y0,Z0) can be transformed to by following formula the coordinate T=after posture (X,
Y,Z):
T=Γ * T0 (1)
WhereinIndicate the correction matrix of t moment yaw angle, ΓP(t) correction matrix of t moment Angle of Trim, Γ are indicatedR
(t) indicate that the correction matrix of t moment roll angle, Γ (t) indicate the coordinate conversion matrix under t moment posture.Carry out launching beam
Stablize treated each transmitting primitive, time delay is made of two parts: time delay added by launching beam directive property and due to carrier
The time delay that attitudes vibration causes primitive position change introduced.Pass through the primitive change in location as caused by carrier position variation
It is converted into time delay, time delay amendment is carried out to achieve the purpose that launching beam is stable to transmission channel.
Using the attitude data of emission time, launching beam desired orientation vector and the transmitting there are attitudes vibration are calculated
Angle is between the direction vector of battle arrayDelay of each primitive relative to reference point is obtained by linear relationship.If emitting battle array primitive
Between be divided into d, linear array vertically to primitive number be N, then the delay volume of n-th um primitive is tnum:
When carrying out launching beam formation, it should be based on launching beam expected angle, time domain benefit is carried out to each transmitting primitive
It repays.If it is s (t) that reference point, which emits signal:
S (t)=s0(t) (3)
Then the transmitting signal of n-th of primitive is sn(t):
snum(t)=s0(t-tnum) (4)
Launching beam forms the middle processing using adding window, reduces secondary lobe.By taking Chebyshev window as an example, window function coefficient is w:
wnum=chebwin (N, β) (5)
Wherein β indicates that main lobe is higher than secondary lobe dB value.
In conjunction with launching beam after stable, windowing process, launching beam formation be may be expressed as:
Since the aperture (the ratio between basic matrix size and wavelength) of basic matrix is bigger, beam angle is smaller.It is real when by setting work
The primitive number that border uses adjusts transmitting aperture, to realize the transmitting of different in width wave beam；In real work, use can be set
Primitive number is 4~80, and launching beam width range is about 1.5 °~40 °.
For different emission modes, the data processing for being received back wave is slightly different.Separately below to signal processing mistake
The processing method used in journey further illustrates.
As shown in Fig. 2, the anti-aliasing filter unit will mainly receive original AD data that primitive obtains by anti-aliasing
Filter with the signal near stick signal centre frequency and filters out out-of-band noise；Frequency overlapped-resistable filter coefficient can be in matlab
In as requested setting generate, it is herein assumed that filter factor banti, total MantiRank:
banti=fir1 (Manti,ωn) (7)
Wherein MantiFor the order of frequency overlapped-resistable filter, ωnFor according to the cutoff frequency of signal frequency and sample frequency setting
Rate.Using above-mentioned filter to original ADdata data filtering after, the signal after obtaining anti-aliasing filter, are as follows:
ADdata is original AD data, ADdata_b in formulaantiFor the output after anti-aliasing filter.
The demodulating unit effect is acquisition baseband signal.If reception signal center frequency is fc, fsFor current signal sample
Frequency, ωcFor the numerical frequency of the reception signal after normalization, then it can regard the output signal after anti-aliasing filter as base band
Signal s (n) and centre frequency are fcCarrier signal be multiplied result, it may be assumed that
If s (n) frequency spectrum is S (ω), ω indicates numeric field frequency.According to the frequency shift property of Fourier transformation, then ADdata_
banti(n) frequency spectrum X (ω) are as follows:
Theoretically, by filtered reception signal multiplied bySignal spectrum can be moved to zero-frequency, be obtained
Signal y (n) after to mixing:
The frequency spectrum of y (n) is Y (ω):
Different emission modes corresponds to the carrier signal of different center frequency: for broad beam emission mode, corresponding to one
A centre frequency, but for narrow beams transmission mode, N number of centre frequency is corresponded to, in demodulating process, respectively frequently with N number of center
The carrier signal of rate is corresponding to be multiplied, and obtains the demodulation result of corresponding signal frequency.
Include baseband signal and high-frequency signal two parts in signal after mixing, required frequency band can be obtained after being filtered
Signal.
The low-pass filter unit only retains the frequency component of near baseband, filtering system for filtering out extra band component
Number can directly generate in matlab according to the basic demand of required filter, it is assumed herein that filter factor is blowTotal MlowRank.
Output after being filtered is required base band data s (n):
Wherein, blow(mlow) it is mlowRank low-pass filter coefficients, MlowFor low-pass filter order.
The beam forming unit is for that can enhance the signal from some direction, the signal in other directions of decaying, from
And realize the orientation of wave beam.Wave beam forming is equivalent to the filter of a spatial domain, for uniformly receiving battle array, it is believed that comes from the side θ
To far-field signal be incident to reception battle array in parallel, by single emission receive signal be simple pulse for, with the center of circle of circular array
For reference point, if the reception signal s (t) of reference point are as follows:
S (t)=s0(t) (15)
The then reception signal s of m-th of primitivem(t) are as follows:
sm(t)=Am*s0(t-τm) (16)
τm=R*cos (θ-αm)/c (17)
Wherein AmFor the amplitude response of m primitive, τmDelay for m primitive relative to reference point, c are the velocity of sound, R
For circular array radius, θ is signal echo direction, αmCentral angle is corresponded to for m primitive position (to number in the direction of the clock
Primitive is 1,2 ... and the direction for being set as 0 ° by the center of circle and by the direction of primitive 1):
αm=(m-1) * αper (18)
Adjacent pixel corresponds to central angle size αperIt is related with primitive spacing, αperAre as follows:
αper=2*arcsin (d/ (2*R)) (19)
Wherein distance of the d between adjacent pixel central point；
For θ in the horizontal direction0Maximum sensitivity is obtained on direction, that is, forms the wave beam Rec_BF for being oriented to the directioni,j
(t), delay compensation time delay need to be carried out to array element, the reception data of m primitive t moment, which are carved, after compensation indicates are as follows:
sm(t)=Am*s0(t-τm+τ′m) (20)
τ′m=R*cos (θ0-αm)/c (21)
τ′mIndicate the delay compensation amount of m primitive.
The influence of secondary lobe is suppressed in beam forming process, can be received data to primitive and be carried out windowing process；According to
Different main secondary lobe demands, chooses different window functions, and Chebyshev window weighting, weighting coefficient b are only discussed hereinmAre as follows:
bm=chebwin (Msub, β) and (22)
Wherein β indicates that main lobe is higher than secondary lobe dB value.
In the case where not doing arrival bearing's control, directly sum after each reception primitive is received signal weighting, then in institute
The directive property for corresponding to the center position of circular arc with M primitive is maximum.If wanting in a direction θ0Upper acquisition maximum sensitivity, then need
Will reception signal to each primitive increase time delay item, compensate path difference, again will letter after adjusting main sidelobe magnitudes by window function
It is number cumulative, it obtains being oriented to θ0The wave beam output in direction is Rec_BFi,j(t):
It is equivalent to rotate reception circular array at this time, so that θ0For center of arc direction, maximum be directed toward is obtained
Property.Wherein i ∈ [1, L] indicates that i-th layer of receiving array, j are wave beam number, BFi,jIt (t) is that i-th layer of receiving array is formed by
J-th of reception wave beam, τ 'mIndicate the compensation of delay amount of array element m.To meet the angle of release requirement for receiving 1.5 degree of wave beam, make in emulation
Use M=56 as primitive number used in single Wave beam forming.
The pulse compression unit is used for matched filtering；For chirp signal s (t), the shock response h of matched filtering
(t) are as follows:
H (t)=s*(t0-t) (24)
Wherein t0It is so that the achievable additional time delay of filter, superscript " * " indicate conjugation.Therefore to receiving
Chirp signal carries out pulse compression, is equivalent to receive it signal sr(t) and transmitting signal st(t) computing cross-correlation is carried out
Comp (t):
In practical applications, demodulation is so that processed signal is base band data, therefore should regenerate local transmitting letter
Number as the transmitting signal s in above formulat(t) pulse compression is carried out with data processed.According to signal band in original transmitted signal
Wide B, signal pulsewidth τ generate local chirp and emit signal sL(t) are as follows:
Using the result data after Wave beam forming as reception signal srAnd local chirp signal s (t),L(t) cross-correlation is carried out
Operation obtains compression pulsed beam Compi,j(t):
As a result Compi,j(t) be the i-th floor receive circular array jth wave beam passages through which vital energy circulates rush compressed result.
In actual treatment, when transmitting signal is linear FM signal, process of pulse-compression need to be carried out, to improve transmitting signal
Signal-to-noise ratio and distance resolution；If transmitting signal be simple pulse signal, this step can be omitted, directly to Wave beam forming after
As a result Mutual coupling is carried out.Therefore pulse compression need to be only carried out in broad beam mode.
After completing Wave beam forming in the horizontal direction, the number of source that extremely narrow wave beam can be greatly reduced while be reached,
Mutual coupling technology is used in vertical plane, and vertical direction incidence is acquired using the Subspace algorithm based on feature decomposition
Multiple signal classification (MUSIC) algorithm and invariable rotary subspace based on feature decomposition are only briefly introduced in angle herein
(ESPRIT) algorithm.
The principle of MUSIC algorithm is: based on the orthogonality of signal subspace and noise subspace, dividing space and carries out
Parameter Estimation.Assuming that the mathematical model based on far field narrowband pinpoint target signal source is X:
X=AS+N (28)
Wherein X is the snapshot data that antenna receives, and A indicates that the manifold matrix of array, S are space incident echo signal, N
Indicate array received noise data vector.
By formula (24) available aerial array reception data covariance matrix R and to carry out feature decomposition obtain:
Wherein USIt is by big eigenvalue λi, the echo signal subspace of the corresponding characteristic vector of i=1,2 ..., M,
And UNIt is then by small eigenvalue λi, i=M+1, M+2 ..., the noise subspace of the corresponding characteristic vector of N.But in reality
Data processing, selection use covariance matrixTo replace data covariance matrix, it may be assumed that
Due to incident target signal subspace USSpace with the array manifold matrix A of antenna is the same space,
And under ideal conditions, signal subspace USWith noise subspace UNIt is mutually orthogonal；It is equal to the array manifold matrix of antenna
A is orthogonal to noise subspace UN.Then any one steering vector in available aerial array flow pattern matrix AIt is same to make an uproar
Phonon space UNIt is all mutually orthogonal, it may be assumed that
Since there are certain gaps for actual conditions and ideal conditions, so that steering vector in practiceIt is empty with noise
Between UNIt is not completely orthogonal.Therefore DOA estimation in practice can be completed using minimum optimization searching, it may be assumed that
It is to obtain the Estimation of Spatial Spectrum of MUSIC algorithm；
It is scanned by whole angles to space, if there are incident target signal source in a certain angle, due to
The orthogonal property of steering vector and noise subspace, so that a sharp spectrum will be shown on the curve of space spectral function
Peak.The corresponding angle of spectral peakThe as incoming wave vertical direction incidence angle of incident target signal4 layers of reception circular arc in example
Battle array, reception wave beam schematic diagram such as Fig. 7 in same level direction.For different emission modes, Wave beam forming or arteries and veins are chosen
Rush the Mutual coupling in compressed equivalent 4 channel datas progress wave beam.
The principle of ESPRIT algorithm is: thinking between adjacent submatrix that this constant spacing can reflect there are a constant spacing
Invariable rotary characteristic between each adjacent submatrix out.Assuming that there are two identical submatrixs, and the separation delta between submatrix it is known that
To only one phase difference of the output of same two submatrixs of signal1, then the reception signal of two submatrixs are as follows:
In formula: S is transmitting signal, and A is the flow pattern matrix of space array, invariable rotary relationship
The then array manifold A of submatrix 11=A, the array manifold A of submatrix 22=A φ,It is the merging form of two sub- battle array array manifolds,
Noise N is usually zero mean Gaussian white noise, uncorrelated to signal.
Carrying out feature decomposition to the covariance matrix R for receiving signal can obtain:
In formula: E [] indicates to calculate mathematic expectaion, { }HIndicate conjugate transposition operation, ∑ s is that big characteristic value is constituted
Diagonal matrix, UsIt is the signal subspace of the corresponding characteristic vector of big characteristic value；∑ n is the diagonal matrix that small characteristic value is constituted, UN
It is the noise subspace of the corresponding characteristic vector of small characteristic value.The nonsingular matrix T of existence anduniquess, so that Us=AT, by
The relationship A of array manifold2=A1φ can be derived:
Us2=Us1T-1φ T=Us1ψ (36)
As long as so finding out invariable rotary relational matrix Φ=T ψ T-1, so that it may calculate the incidence angle of signal vertical direction
DegreeCalculation formula are as follows:
As shown in fig. 7,4 layers of reception circular array in embodiment, the reception wave beam schematic diagram in same level direction, for
Different emission modes chooses the wave that Wave beam forming or compressed equivalent 4 channel datas of pulse carry out in wave beam and reaches side
To estimation.As shown in figure 8, if being oriented to θ to horizontal direction0Multiple wave beam results carry out Mutual coupling obtain signal hang down
Histogram to incident angle beIn conjunction with echo arrival time n0With signal sampling frequencies fs, the target point can be calculated
Two-dimensional plane coordinate x, y and height value z be respectively as follows:
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (10)
1. a kind of three-dimensional looking forward sound sonar system, including acoustic sound room, transmitting battle array and reception battle array, emit each transmitting primitive in battle array
A corresponding transmitter receives the corresponding receiver of each reception primitive in battle array, which is characterized in that the system also includes numbers
According to processing module；
The transmitting primitive of the transmitting battle array is axially in alignment arrangement along acoustic sound room, is tightly attached to acoustic sound room outer wall, vertical for adjusting
To launching beam width, shallow-water environment detection is realized；
The reception battle array includes that multilayer receives circular array, and interlamellar spacing is identical, and every layer of reception circular array is arranged multiple receptions at equal intervals
Primitive, the reception circular array are attached to acoustic sound room bottom；
The data processing module is placed in acoustic sound room body, for handling transmitting battle array and receiving the detection data of battle array.
2. a kind of three-dimensional looking forward acoustic imaging method realized based on three-dimensional looking forward sound sonar system described in claim 1, described
Method includes:
Step 1) the transmitting battle array sets launching beam by data processing module, using wave beam antihunt means, according to carrier appearance
The variation of state calculates the opposite variation of transmitting primitive position in real time, converts time delay for change in location, mended in time domain
It repays, launching centre is stable on transmitting predetermined direction, handled to complete stablizing for launching beam；
Step 2) the reception battle array is filtered and demodulates pretreatment to received echo data by data processing module, and every layer
Primitive horizontal direction forms the reception wave beam of multiple center cell normal directions for being oriented to submatrix；Carry out the pulse compression of wave beam
Processing carries out Sources number estimation and Mutual coupling to each layer same level direction beam signal in vertical plane, in conjunction with echo
Arrival time calculates the coordinate of scattering point in three dimensions, obtains three-dimensional acoustic imaging.
3. three-dimensional looking forward acoustic imaging method according to claim 2, which is characterized in that the step 1) specifically includes:
Step 1-1) set the broad beam covering pattern of single pulse signal or the narrow beam covering pattern of multipulse signal；By setting
The number of the transmitting primitive used when working surely determines the transmitting of different in width wave beam；
Step 1-2) according to carrier yaw angle in certain t moment horizontal planeAngle of Trim P (t), roll angle R (t), transmitting primitive
Initial coordinate T0, calculating carrier, there are the coordinate T after attitudes vibration；
The yaw angleThe angle for deviateing track direction for carrier stem direction in horizontal plane, above carrier, carrier is first
Deviate track direction clockwise and be positive in portion；
The Angle of Trim P (t) is the longitudinal angle with horizontal plane of carrier, and above carrier, carrier stem, which is lifted, to be positive；
The roll angle R (t) is carrier laterally with the angle of horizontal plane, and above carrier, carrier left-half, which is lifted, to be positive；
The transmitting battle array primitive initial coordinate T0=(X0,Y0,Z0)；
The carrier is T=(X, Y, Z) there are the coordinate after t moment attitudes vibration:
T=Γ * T0 (1)
Indicate the correction matrix of t moment yaw angle, ΓP(t) correction matrix of t moment Angle of Trim, Γ are indicatedR(t) t is indicated
The correction matrix of moment roll angle, Γ (t) indicate the coordinate conversion matrix under t moment posture；
Step 1-3) calculate delay volume t of n-th um primitive relative to reference pointn:
Wherein, emit and be divided into d between battle array primitive, linear array vertically to primitive number be Num, c is the velocity of sound,It is predetermined for launching beam
Direction vector and there are angles between the direction vector of the transmitting battle array of attitudes vibration；
Step 1-4) t moment reference point transmitting signal is set as s0(t), then after compensation of delay p-th of primitive transmitting signal are as follows:
snum(t)=s0(t-tnum) (4)
Step 1-5) to each transmitting primitive carry out windowing process after form launching beam:
Wherein, wnumFor the window function coefficient of n-th um primitive:
wnum=chebwin (N, β) (5)
Wherein, β indicates that main lobe is higher than secondary lobe dB value.
4. three-dimensional looking forward acoustic imaging method according to claim 2, which is characterized in that the step 2) includes:
Step 2-1) it the original AD data that primitive obtains will be received filters out out-of-band noise, retain the signal near centre frequency, obtains
Signal after to anti-aliasing filter；
Step 2-2) by after anti-aliasing filter signal demodulate, according to different emission modes respectively with one or N number of center frequency
The carrier signal of rate is corresponding to be multiplied；
Step 2-3) low-pass filtering is carried out, band component extra in spectrum signal after demodulating is filtered out, the frequency of near baseband is retained
Rate component, obtains baseband signal；
Step 2-4) baseband signal passes through Wave beam forming, enhance the beam signal from some direction, decay its other party
To beam signal, formed and be differently directed multiple reception wave beams in direction；If emission mode is broad beam emission mode, execute
Step 2-5)；If emission mode is narrow beam mode and needs to carry out high-resolution detection to target in narrow beam, execute
Step 2-5)；If emission mode is narrow beam mode but does not need to execute step when carrying out high-resolution detection to target in wave beam
Rapid 2-6)；
Step 2-5) Sources number estimation and direction of arrival passed through in wave beam by the process of pulse-compression of wave beam and vertical plane
Estimation finds out vertical direction incidence angleExecute step 2-7)；
Step 2-6) directional angle of launching beam is equivalent to vertical direction incidence angleThe directional angle for receiving wave beam is equivalent
For glancing incidence angle θ0, execute step 2-7)；
Step 2-7) calculate three-dimensional coordinate obtain three-dimensional acoustic imaging.
5. three-dimensional looking forward acoustic imaging method according to claim 4, which is characterized in that the step 2-1) specifically:
According to signal band width and sample frequency, parameter needed for setting generates frequency overlapped-resistable filter includes filter order Manti
Cutoff frequency ωn, and obtain MantiRank frequency overlapped-resistable filter coefficient banti:
banti=fir1 (Manti,ωn) (7)
The initial data that primitive obtains will be received and input frequency overlapped-resistable filter, the signal ADdata_b after obtaining anti-aliasing filteranti
(n), wherein n indicates n-th of sampled point, banti(manti) indicate mantiRank filter coefficient:
6. three-dimensional looking forward acoustic imaging method according to claim 5, which is characterized in that the step 2-2) it specifically includes:
Step 2-2-1) by the signal ADdata_b after anti-aliasing filteranti(n), according to the center of emission mode and transmitting signal
Frequency fcIt is demodulated to obtain:
In formula, ωcTo normalize the numerical frequency for being followed by the collection of letters number, fcTo receive signal center frequency, fsFor current signal sample
Frequency, y (n) are the mixed frequency signal after demodulation, and frequency spectrum designation is Y (ω).
7. three-dimensional looking forward acoustic imaging method according to claim 6, which is characterized in that the step 2-3) specifically: it will
Extra band component in mixed frequency signal y (n) after demodulation filters out, and obtains baseband signal s (n):
Wherein, blow(mlow) it is mlowRank low-pass filter coefficients, MlowFor low-pass filter order.
8. three-dimensional looking forward acoustic imaging method according to claim 7, which is characterized in that the step 2-4) it specifically includes:
Step 2-4-1) baseband signal after the low-pass filtered output of M adjacent pixel of single layer is chosen, with the center of circle of circular array
For reference point, delay compensation is carried out to it, the reception data of No. m reception primitive t moment are expressed as sm(t):
sm(t)=Am*s0(t-τm) (16)
τm=R*cos (θ-αm)/c (17)
Wherein AmFor the amplitude response of m primitive, s0(t) signal exported after low-pass filtered for reference point, τmIt is No. m
Time delay of the primitive relative to reference point, θ are signal echo direction, and c is the velocity of sound, αmFor the corresponding circle in m primitive position
Heart angle:
αm=(m-1) * αper (18)
Adjacent pixel corresponds to central angle size αper:
αper=2*arcsin (d/ (2*R)) (19)
Wherein R is circular array radius, distance of the d between adjacent pixel central point；For θ in the horizontal direction0Maximum is obtained on direction to refer to
Tropism forms the wave beam Rec_BF for being oriented to the directioni,j(t), delay compensation need to be carried out to array element, No. m after delay compensation
The reception data of primitive t moment, which are carved, to be indicated are as follows:
sm(t)=Am*s0(t-τm+τ′m) (20)
τ′m=R*cos (θ0-αm)/c (21)
τ′mIndicate the delay compensation amount of m primitive；
Step 2-4-2) to Wave beam forming progress windowing process is received, m primitive window function coefficient is bm:
bm=chebwin (Msub, β) and (22)
Wherein MsubFor window length, β indicates that main lobe is higher than secondary lobe dB value, to the primitive after each increase delay compensation, windowing process
Reception signal it is cumulative, processing postwave binding fruit is represented by Rec_BFi,j(t):
Wherein i ∈ [1, L] is i-th layer of receiving array, and total L layers of receiving array, j is wave beam number, Rec_BFi,jIt is received for i-th layer
Array is formed by j-th of reception wave beam.
9. three-dimensional looking forward acoustic imaging method according to claim 8, which is characterized in that the step 2-5) it specifically includes:
Step 2-5-1) when emit signal be linear FM signal when to receive Wave beam forming after result carry out pulse compression, if
Original transmitted signal sL(t) are as follows:
B is the bandwidth of original transmitted signal, and τ is the pulsewidth of original transmitted signal；
Step 2-5-2) by wave beam Rec_BFi,jEmit signal s with localL(t) i-th layer of reception circular array is obtained as computing cross-correlation
Jth wave beam Rec_BFi,j(t) the compressed result Comp of pulse is carried outi,j(t):
Superscript " * " indicates conjugation；
Step 2-5-3) choose Wave beam forming or compressed equivalent several channel datas of pulse carry out DOA wave in wave beam
Up to estimation, specifically includes and vertical direction incidence angular estimation or rotation are carried out using the multiple signal classification algorithm based on feature decomposition
Invariant subspace algorithm carries out vertical direction incidence angular estimation and obtains the vertical direction incidence angle of incident target signal
10. three-dimensional looking forward acoustic imaging method according to claim 9, which is characterized in that the step 2-7) it include: basis
Signal pitch angleAzimuth angle theta0, echo arrival time n0With signal sampling frequencies fs, the two dimension that the target point is calculated is flat
Areal coordinate x, y and height value z are respectively as follows:
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