CN109959934B - Method for detecting underwater buried target by multi-beam high resolution - Google Patents
Method for detecting underwater buried target by multi-beam high resolution Download PDFInfo
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- CN109959934B CN109959934B CN201711451957.8A CN201711451957A CN109959934B CN 109959934 B CN109959934 B CN 109959934B CN 201711451957 A CN201711451957 A CN 201711451957A CN 109959934 B CN109959934 B CN 109959934B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Radar, Positioning & Navigation (AREA)
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- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a method for detecting an underwater buried target by multi-beam high resolution, which specifically comprises the following steps: the method comprises the following steps: performing band-pass filtering on echo data received by each hydrophone array element, performing frequency mixing up-sampling, performing spatial under-sampling DOA estimation on the obtained data within a certain angle range, and acquiring time domain signals of different wave beam domains; step two: performing frequency mixing up-sampling on the emission signal to be used as a reference signal, and performing segmented matched filtering processing on the emission signal and the obtained beam domain signal to obtain amplitude values of different resolution units to form a detection sonogram; step three: and correcting the detection sound image to obtain a final detection result. The invention realizes the detection of the sinking or buried target with large-range high resolution by adopting signal processing methods such as frequency mixing up-sampling, spatial under-sampling DOA estimation and the like, and does not need the detection platform to linearly move along the space at a constant speed.
Description
Technical Field
The invention relates to the technical field of underwater buried target detection, in particular to a method for detecting an underwater buried target by multi-beam high resolution.
Background
The underwater buried target detection is always the key and difficult point in the field of underwater acoustic detection, and the existing underwater buried target detection technology is generally parametric array detection technology and synthetic aperture sonar principle detection technology.
The parametric array detection technology can only detect the target in a single beam mode, the detection range is small, and the detection efficiency is low; the synthetic aperture sonar has the large-range high-resolution imaging capability and the detection capability for objects sinking to the bottom, being semi-buried and being buried, but the synthetic aperture sonar requires that a detection platform linearly moves at a constant speed along the space.
When the underwater buried target is detected by the acoustic method, the transmitted signal frequency is lower in order to ensure that the sound wave has certain penetration capability of a seabed settled layer. A large enough array aperture is usually required to achieve high angular resolution of the buried target, and is not practical to implement and apply. The synthetic aperture sonar adopts a smaller real aperture sonar basic array to virtualize a large aperture basic array, which better solves the problem, but the synthetic aperture sonar has higher requirement on a detection platform and needs to move linearly at a uniform speed along the space.
Disclosure of Invention
The embodiment of the invention provides a method for detecting an underwater buried target by multiple beams at high resolution, and aims to solve the problems that a synthetic aperture sonar detection platform in the prior art has higher requirements and needs to move linearly at a uniform speed along a space.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
a method for detecting underwater buried targets by multi-beam high resolution specifically comprises the following steps:
the method comprises the following steps: performing band-pass filtering on echo data received by each hydrophone array element, performing frequency mixing up-sampling, performing spatial under-sampling DOA estimation on the obtained data within a certain angle range, and acquiring time domain signals of different wave beam domains;
step two: performing frequency mixing up-sampling on the emission signal to be used as a reference signal, and performing segmented matched filtering processing on the emission signal and the obtained beam domain signal to obtain amplitude values of different resolution units to form a detection sonogram;
step three: and correcting the detection sonogram to obtain a final detection result.
Preferably, the method for modifying the sounding diagram comprises: firstly, constructing a detection sonogram correction matrix H, wherein the detection sonogram correction matrix H is constructed according to the submarine scattering intensity, the signal incidence angle and the distance from the signal to a submarine scatterer; and multiplying the detection sonogram matrix Y by the detection sonogram correction matrix H to finish the correction of the detection sonogram, wherein the final detection result is Z = HY.
The beneficial effects of the invention are as follows: the embodiment of the invention provides a method for detecting an underwater buried target by multiple beams in high resolution, which comprises the steps of carrying out band-pass filtering on echo data received by each array element, then carrying out frequency mixing up-sampling, carrying out spatial under-sampling DOA estimation on the obtained data in a certain angle range, and obtaining time domain signals of different beam domains; meanwhile, the transmitting signal is subjected to frequency mixing up-sampling to be used as a reference signal, and is subjected to segmented matching filtering processing with the obtained beam domain signal to obtain amplitude values of different resolution units, so that a detection sonogram is formed, and finally the detection sonogram is corrected to obtain a final detection result. The invention realizes the detection of the sinking or buried target with large-range high resolution by adopting signal processing methods such as frequency mixing up-sampling, spatial under-sampling DOA estimation and the like, and does not need the detection platform to linearly move along the space at a constant speed. The method for detecting the underwater buried target by the multi-beam high resolution improves the angular resolution of the target detected by the small-aperture sonar array to a certain extent, and has the advantages of small calculated amount, strong real-time performance and better engineering application prospect.
Drawings
Fig. 1 is a flow chart of a method for detecting an underwater buried target with multiple beams and high resolution according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
Referring to the attached drawing 1, the embodiment of the invention provides a method for detecting an underwater buried target by multiple beams at high resolution, which specifically comprises the following steps:
the method comprises the following steps: performing band-pass filtering on echo data received by each hydrophone array element, performing frequency mixing up-sampling, performing spatial under-sampling DOA estimation on the obtained data within a certain angle range, and acquiring time domain signals of different wave beam domains;
step two: performing frequency mixing up-sampling on the emission signal to be used as a reference signal, and performing segmented matched filtering processing on the emission signal and the obtained beam domain signal to obtain amplitude values of different resolution units to form a detection sonogram;
step three: and correcting the detection sonogram to obtain a final detection result.
In the embodiment of the invention, the specific steps are as follows:
1) Band-pass filtering of echo data received by each array element
And filtering echo data received by each array element by using a fir band-pass filter to filter noise interference outside a system frequency band. The parameters of the fir band-pass filter include filter order, upper cut-off frequency and lower cut-off frequency, for example, a chirp signal with a transmission signal of 5kHz-15kHz and a sampling rate of 500kHz, the filter order can be set to 64 (the higher the order, the better the filter amplitude-frequency response, but the larger the calculation amount), the upper cut-off frequency is 20 kHz/(fs/2) =0.08, and the lower cut-off frequency is 3 kHz/(fs/2) =0.012.
2) Frequency mixing up-sampling
Subjecting the echo data of the receiving array element to Hilbert transform to obtain its analytic signal form, i.e.
Wherein
(
Representing a convolution) and frequency-mixing up-sampling the analytic signal obtained by hilbert transformation of each receiving array element, i.e.
At the same time, the transmitting signal is also subjected to frequency mixing up-sampling, and the method is the same as the above to obtain s h 。
3) Spatial undersampling DOA estimation
The DOA estimation is realized on the data after the frequency mixing up-sampling of the receiving array elements in a certain angle range by adopting a weighting coefficient and a space steering vector matrix, and the time domain output signals of a plurality of wave beams are obtained, namely y = w H a(θ，f k )x h Wherein w represents a weighting coefficient, and a Chebyshev weight coefficient, a Hanning window, an adaptive weight coefficient, etc. can be actually adopted,
representing a matrix of spatially oriented vectors.
4) Segmented matched filter processing
Mixing up-sampled transmission signal s and time domain output signal y obtained from different wave beam domains h And carrying out segmented matched filtering processing to obtain a detection sonogram matrix Y.
5) Acoustic image correction
And constructing a detection sonogram correction matrix H according to the information of the submarine scattering intensity, the signal incidence angle, the distance from the signal to the submarine scatterer and the like, and multiplying the matrix by the detection sonogram matrix Y to realize the correction of the detection sonogram, namely Z = HY.
The angular resolution of the basic array (in the case of a linear array) is delta phi -3dB 0.89 λ/L (radian), λ = c/f denotes wavelength, L denotes the fundamental aperture, and the angular resolution can be improved by decreasing the wavelength or increasing the fundamental aperture. The synthetic aperture sonar utilizes the small aperture sonar basic array to virtually perform linear motion along the space at a constant speed to obtain the large aperture sonar basic array, thereby obtaining high resolution along the motion direction. The angular resolution can also be increased if the wavelength is reduced, i.e. by increasing the frequency f.
The synthetic aperture sonar has high requirements on a detection platform, needs to move linearly at a uniform speed along the space, virtualizes a large aperture array, transmits and receives echo signals at sequential positions of a motion track, and performs coherent superposition processing on the echo signals at different positions according to the spatial position and phase relation, thereby improving the angular resolution of a detected target.
The invention is applied to the field of detection of buried objects in the sea floor, can realize higher detection efficiency, can reduce the requirement on a detection platform, and has good social benefit and economic benefit.
The embodiment of the invention provides a method for detecting an underwater buried target by multiple beams in high resolution, which comprises the steps of carrying out band-pass filtering on echo data received by each array element, then carrying out frequency mixing up-sampling, carrying out spatial under-sampling DOA estimation on the obtained data in a certain angle range, and obtaining time domain signals of different beam domains; meanwhile, the transmitting signal is subjected to frequency mixing up-sampling to be used as a reference signal, and is subjected to segmented matching filtering processing with the obtained beam domain signal to obtain amplitude values of different resolution units, so that a detection sonogram is formed, and finally the detection sonogram is corrected to obtain a final detection result. The invention realizes the detection of the sinking or buried target with large-range high resolution by adopting signal processing methods such as frequency mixing up-sampling, spatial under-sampling DOA estimation and the like, and does not need the detection platform to linearly move along the space at a constant speed. The method for detecting the underwater buried target by the multi-beam high resolution improves the angular resolution of the target detected by the small-aperture sonar array to a certain extent, and has the advantages of small calculated amount, strong real-time performance and better engineering application prospect.
The particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that all such changes and modifications as fall within the true spirit and scope of the invention be considered as within the following claims.
Claims (2)
1. A method for detecting underwater buried targets by multi-beam high resolution is characterized by comprising the following steps:
the method comprises the following steps: performing band-pass filtering on echo data received by each hydrophone array element, performing frequency mixing up-sampling, performing spatial under-sampling DOA estimation on the obtained data within a certain angle range, and acquiring time domain signals of different wave beam domains;
step two: performing frequency mixing up-sampling on the emission signal to be used as a reference signal, and performing segmented matched filtering processing on the emission signal and the obtained beam domain signal to obtain amplitude values of different resolution units to form a detection sonogram;
step three: and correcting the detection sound image to obtain a final detection result.
2. The method for detecting underwater buried targets with multiple beams and high resolution according to claim 1, wherein the method for detecting acoustic pattern modification comprises the following steps: firstly, constructing a detection sonogram correction matrix H, wherein the detection sonogram correction matrix H is constructed according to the submarine scattering intensity, the signal incidence angle and the distance from the signal to a submarine scatterer; and multiplying the detection sonogram matrix Y by the detection sonogram correction matrix H to finish the correction of the detection sonogram, wherein the final detection result is Z = HY.
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