CN110196407A - A kind of single vector hydrophone signal arrival bearing's estimation method based on frequency estimation - Google Patents
A kind of single vector hydrophone signal arrival bearing's estimation method based on frequency estimation Download PDFInfo
- Publication number
- CN110196407A CN110196407A CN201910370347.8A CN201910370347A CN110196407A CN 110196407 A CN110196407 A CN 110196407A CN 201910370347 A CN201910370347 A CN 201910370347A CN 110196407 A CN110196407 A CN 110196407A
- Authority
- CN
- China
- Prior art keywords
- signal
- frequency
- arrival bearing
- vector hydrophone
- single vector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
- G01S3/803—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from receiving transducers or transducer systems having differently-oriented directivity characteristics
Abstract
Single vector hydrophone signal arrival bearing's estimation method based on frequency estimation that the invention discloses a kind of, comprising: obtain the acoustic pressure of single vector hydrophone signal to be processed, X, the vibration velocity signal acquisition sequence in Y-direction, calculate discrete Fourier transform；Just estimation is carried out to signal arrival bearing and obtains signal arrival bearing；Different frequency offset estimation signal frequencies is selected according to the signal arrival bearing just estimated；It calculates separately sound pressure signal, X-direction and Y-direction vibration velocity signal acquisition sequence and is estimating the single-point Fourier transformation at signal frequency；The single-point Fourier transformation result of sound pressure signal acquisition sequence is subjected to conjugate multiplication with the single-point Fourier transformation of X, Y-direction vibration velocity signal acquisition sequence respectively, and the real part of conjugate multiplication is calculated, it substitutes into antitrigonometric function and carries out the arrival bearing that single vector hydrophone signal is calculated.The present invention can it is more accurate extract three road signal of vector hydrophone frequency spectrum, under the conditions of same signal-to-noise ratio, estimated accuracy is higher.
Description
Technical field
Single vector hydrophone signal arrival bearing's estimation method based on frequency estimation that the present invention relates to a kind of, belongs to signal
Processing technology field.
Background technique
Under non-condition for cooperation, carrying out accurate estimation to the arrival bearing of single vector hydrophone signal polluted by noise is
One of research hotspot in signal processing, this technology have wide in fields such as Speech processing, radar, sonar and electronic warfares
General application.
The key of single vector hydrophone signal arrival bearing estimation is that the accurate vector hydrophone that extracts receives entrained by signal
Angle information.There are mainly two types of currently used single vector hydrophone direction-finding methods: average acoustic energy stream method and cross-spectrum acoustic energy flow
Method.
Average acoustic energy stream method is that the X that will be received in a period of time, Y-direction vibration velocity signal and sound pressure signal carry out time domain phase
Multiply, then directly calculates the result being divided by substitution antitrigonometric function.This method realizes simple, clear principle, but this
Method estimated accuracy under Low SNR sharply declines, and causes the direction estimation error under real-world environment big, Practical
Property is poor.
Cross-spectrum acoustic energy flow method is by sound pressure signal and X, and the vibration velocity signal of Y-direction first carries out DFT transform, then by the side X
Cross-spectrum calculating is carried out respectively to the DFT transform with Y-direction vibration velocity signal and sound pressure signal, is substituted into again after taking real part to calculated result
Antitrigonometric function is calculated.Such processing method pointing accuracy is higher than average acoustic energy stream method above-mentioned, in practical work
It is widely used in journey.But conventional Mutual spectrum may have spectral leakage and cause when taking DFT transform result
The problem of output signal-to-noise ratio reduces.
Summary of the invention
Technical problem to be solved by the present invention lies in overcome present in conventional cross-spectrum acoustic energy flow method due to spectral leakage
Lead to the deficiency that output signal-to-noise ratio is low, a kind of single vector hydrophone signal arrival bearing estimation side based on frequency estimation is provided
Method, this method is on the basis of only increasing single-point Fourier transformation operation three times, more conventional cross-spectrum acoustic energy flow direction finding method, incoming wave side
It is relatively significantly improved to estimation performance.
The present invention specifically uses following technical scheme to solve above-mentioned technical problem:
A kind of single vector hydrophone signal arrival bearing's estimation method based on frequency estimation, comprising the following steps:
Step 1: the sound pressure signal acquisition sequence p (n of single vector hydrophone signal to be processed is obtained1) and in X, Y-direction
On vibration velocity signal acquisition sequence vx(n2)、vy(n3), wherein p (n1), n1=0,1 ... N-1, vx(n2), n2=0,1 ... N-
1, vy(n3), n3=0,1 ... N-1, the n1、n2、n3Respectively indicate sampled point, N indicates number of sampling points, N value be 2 it is whole
Power for several times, and N >=4；
Step 2: sound pressure signal acquisition sequence p (n is calculated separately1) and vibration velocity signal acquisition sequence v in the x, y directionx
(n2)、vy(n3) discrete Fourier transform X (k), Vx(k) and Vy(k), wherein k indicates X (k), Vx(k) and Vy(k) discrete frequency
Rate index；
Step 3: according to discrete Fourier transform X (k), the V calculatedx(k) and Vy(k) signal arrival bearing just estimate
Count the signal arrival bearing θ just estimated1；
Step 4: according to the signal arrival bearing θ just estimated1Estimate signal frequencySpecifically:
Step (4.1) passes through discrete Fourier transform X (k), Vx(k) and Vy(k) it calculates separately to obtain frequency departure δp、δy、
ξx；
Step (4.2) is according to the signal arrival bearing θ just estimated1Select different frequency departure δp、δy、δxIt calculates opposite
Frequency departure δ:
If | sin θ1| > | cos θ1|, select the frequency departure of acoustic pressure and Y-direction vibration velocity to calculate relative frequency deviation δ:
If | cos θ1| > | sin θ1|, select the frequency departure of acoustic pressure and X-direction vibration velocity to calculate relative frequency deviation δ:
If | cos θ1|=| sin θ1|, select acoustic pressure, the frequency departure calculating relative frequency of X-direction vibration velocity and Y-direction vibration velocity
Deviation δ:
Step (4.3) estimates signal frequency using relative frequency deviation δ
Wherein, Δ f is the frequency resolution for the discrete Fourier transform that length is N, Δ f=fs/ N, fsSignal is sampling frequency
Rate；
Step 5: sound pressure signal, X-direction and Y-direction vibration velocity signal acquisition sequence p (n are calculated separately1)、vx(n2) and vy
(n3) estimating signal frequencyThe single-point Fourier transformation result Z at placep, Zx, Zy；
Step 6: by the single-point Fourier transformation result Z of sound pressure signal acquisition sequencepRespectively with X, Y-direction vibration velocity signal
The single-point Fourier transformation result Z of acquisition sequencex, ZyConjugate multiplication is carried out, and the real part ξ of conjugate multiplication is calculatedxAnd ξy；
Step 7: according to the real part ξ of conjugate multiplicationxAnd ξy, substitute into antitrigonometric function and carry out that single vector hydrophone is calculated
The arrival bearing of signal
Further, as a preferred technical solution of the present invention, single vector to be processed is obtained in the step 1
The sound pressure signal acquisition sequence p (n of hydrophone signals1) and vibration velocity signal acquisition sequence v in the x, y directionx(n2)、vy(n3),
Including receiving the real-time data collection of N number of sampled point from single vector hydrophone as signal acquisition sequence p (n to be processed1)、vx
(n2)、vy(n3), or from extracting the data of N number of sampled point from detecting the signal moment in memory as to be processed
Signal acquisition sequence p (n1)、vx(n2)、vy(n3)。
Further, as a preferred technical solution of the present invention, discrete Fourier transform X is calculated in the step 2
(k)、Vx(k) and Vy(k), using formula:
Wherein k indicates X (k), Vx(k) and Vy(k) discrete frequency index, j indicate imaginary unit, i.e.,
Further, just estimation is carried out as a preferred technical solution of the present invention, in the step 3 to obtain just estimating
The signal arrival bearing θ of meter1, specifically:
Step (3.1) calculate separately discrete Fourier transform X (k) respectively with Vx(k) and Vy(k) crosspower spectrum modulus value
Square Px(k), Py(k):
Px(k)=(| X (k) | | Vx(k)|)2, k=0,1 ... N-1
Py(k)=(| X (k) | | Vy(k)|)2, k=0,1 ... N-1
Wherein | | represent modulus value operation；
Step (3.2) is by the Px(k) and Py(k) it is added and obtains signal power function P (k):
P (k)=Px(k)+Py(k), k=0,1 ... N-1
Step (3.3) searches for discrete frequency corresponding to signal power function P (k) maximum value and indexes k0:
Wherein arg max1≤k≤N/2-1[P (k)] indicate searched within the scope of 1≤k≤N/2-1 | P (k) | maximum value institute it is right
The discrete frequency index answered；
Step (3.4) takes discrete Fourier transform X (k), Vx(k) and Vy(k) in k0Value X (the k at place0)、Vx(k0)、Vy(k0),
Real part ξ is sought after respectively conjugated multiplicationx1And ξy1:
ξx1=Re [X (k0)]Re[Vx(k0)]+Im[X(k0)]Im[Vx(k0)]
ξy1=Re [X (k0)]Re[Vy(k0)]+Im[X(k0)]Im[Vy(k0)]
The real part ξ that step (3.5) will acquirex1And ξy1Arctan function is substituted into, the signal for just estimating just to be estimated is carried out
Arrival bearing θ1:
Wherein, tan-1() is arctangent cp cp operation.
Further, pass through discrete fourier as a preferred technical solution of the present invention, in the step (4.1) to become
Change X (k), Vx(k) and Vy(k) it calculates separately to obtain frequency departure δp、δy、δx, using formula:
Wherein, X (k0)、Vx(k0)、Vy(k0) respectively indicate discrete Fourier transform X (k), Vx(k) and Vy(k) in k0Place
Value and X (k0-1)、Vx(k0-1)、Vy(k0- 1) discrete Fourier transform X (k), V are respectively indicatedx(k) and Vy(k) in k0- 1 place
Value and X (k0+1)、Vx(k0+1)、Vy(k0+ 1) discrete Fourier transform X (k), V are respectively indicatedx(k) and Vy(k) in k0+ 1 place
Value.
Further, as a preferred technical solution of the present invention, sound pressure signal, X-direction are calculated in the step 5
With Y-direction vibration velocity signal acquisition sequence p (n1)、vx(n2) and vy(n3) estimating signal frequencyThe single-point Fourier transformation knot at place
Fruit Zp, Zx, Zy, using formula:
Further, as a preferred technical solution of the present invention, the real part of conjugate multiplication is calculated in the step 6
ξxAnd ξy, using formula:
ξx=Re [Zp]Re[Zx]+Im[Zp]Im[Zx]
ξy=Re [Zp]Re[Zy]+Im[Zp]Im[Zy]
Wherein, Re [] indicates real part；Im [] indicates imaginary part.
Further, single vector hydrophone letter is calculated as a preferred technical solution of the present invention, in the step 7
Number arrival bearingUsing formula:
The present invention by adopting the above technical scheme, can have the following technical effects:
Method proposed by the present invention is improvement on the basis of conventional Mutual spectrum, connects first with single vector hydrophone
The acoustic pressure received, X-direction and Y-direction signal sample data sequence carry out just estimation to signal arrival bearing, and then basis is just estimated
The signal arrival bearing of meter accurately estimates signal frequency, i.e., selects different sample sequences to combine to signal according to just estimation angle
Frequency is modified, the signal frequency finally estimated；Then estimate that the single-point Fourier that signal is done on Frequency point becomes herein
It changes, then seeks the conjugate multiplication real part of X-direction vibration velocity signal Yu sound pressure signal single-point Fourier transformation, with Y-direction vibration velocity signal
It with the conjugate multiplication real part of sound pressure signal single-point Fourier transformation, and substitutes into antitrigonometric function and is calculated, acquire coming for signal
Wave direction.
Therefore, compared with prior art, the present invention having the advantage that
1. the discrete Fourier transform X (k) and the side X of estimation method of the invention using sound pressure signal sample data sequence
To the discrete Fourier transform V of, Y-direction vibration velocity signal sample data sequencex(k) and Vy(k) crosspower spectrum modulus value quadratic sum is come
The index of discrete frequency corresponding to maximum value is searched for, and then estimates signal frequency, which takes full advantage of acoustic pressure, X-direction, Y
The correlation of direction vibration velocity signal sample data sequence and the non-correlation of noise, improve the precision of frequency estimation.
2. the frequency for the extraction three road signal of vector hydrophone that estimation method of the invention can be more accurate by frequency estimation
The problem of composing, avoiding spectral leakage present in conventional method, under the conditions of same signal-to-noise ratio, the method for the present invention estimated accuracy
It is higher；Under the conditions of different signal-to-noise ratio, the accessible signal-to-noise ratio lower limit of this method is lower.This method can be efficiently against conventional cross-spectrum
The deficiency for causing output signal-to-noise ratio low because of spectral leakage present in acoustic energy flow method realizes simply have preferable engineering real
The property used.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts of single vector hydrophone signal arrival bearing's estimation method of frequency estimation.
Fig. 2 show the crosspower spectrum modulus value square that single vector hydrophone signal normalization is emulated in the embodiment of the present invention 1
With.
Fig. 3 show the crosspower spectrum modulus value square that single vector hydrophone signal normalization is emulated in the embodiment of the present invention 2
With.
Specific embodiment
Embodiments of the present invention are described with reference to the accompanying drawings of the specification.
As shown in Figure 1, the invention proposes a kind of, the single vector hydrophone signal arrival bearing based on frequency estimation estimates
Method, method includes the following steps:
Step 1: single vector hydrophone signal sound signal acquisition sequence and two-dimentional vibration velocity signal acquisition to be processed are obtained
Sequence p (n1), n1=0,1 ... N-1, vx(n2), n2=0,1 ... N-1, vy(n3), n3=0,1 ... N-1, wherein p (n1) be
The sound pressure signal acquisition sequence of single vector hydrophone, vx(n2) it is the vibration velocity signal acquisition sequence of single vector hydrophone in the X direction
Column, vy(n3) it is the vibration velocity signal acquisition sequence of single vector hydrophone in the Y direction；It preferably, can be from the single vector hydrophone
The real-time data collection of N number of sampled point is received as data sequence p (n to be processed1), n1=0,1 ... N-1, vx(n2), n2=
0,1 ... N-1, vy(n3), n3=0,1 ... N-1 or from the N number of sampling extracted in memory from detecting the signal moment
The data of point are as data sequence p (n to be processed1), n1=0,1 ... N-1, vx(n2), n2=0,1 ... N-1, vy(n3), n3
=0,1 ... N-1, the n1、n2、n3Respectively indicate sampled point；N is sampled point corresponding to the signal pulsewidth length that detects
Number, the integral number power that value is 2, N >=4.
Step 2: acoustic pressure, X-direction vibration velocity and Y-direction vibration velocity signal acquisition data sequence p (n are calculated separately1)、vx(n2) and
vy(n3) discrete Fourier transform X (k), Vx(k) and Vy(k), calculating process is as follows:
Wherein k indicates X (k), Vx(k) and Vy(k) discrete frequency index, j indicate imaginary unit, i.e.,
In step 2, data sequence p (n is acquired1), vx (n2) and vy (n3) discrete Fourier transform, that is, formula (1), formula
(2) and formula (3), it is to be realized by Fast Fourier Transform (FFT), the operand of algorithm can be reduced using Fast Fourier Transform (FFT),
Improve the computational efficiency of algorithm.
Step 3: according to discrete Fourier transform X (k), Vx(k) and Vy(k) just estimation is carried out to signal arrival bearing to obtain
The signal arrival bearing θ just estimated1, estimation procedure is as follows:
Step (3.1) calculate separately discrete Fourier transform X (k) respectively with Vx(k) and Vy(k) crosspower spectrum modulus value
Square Px(k), Py(k):
Px(k)=(| X (k) | | Vx(k)|)2, k=0,1 ... N-1 formula (4)
Py(k)=(| X (k) | | Vy(k)|)2, k=0,1 ... N-1 formula (5)
Wherein | | represent modulus value operation；
Step (3.2) is by Px(k) and Py(k) it is added and obtains signal power function P (k):
P (k)=Px(k)+Py(k), k=0,1 ... N-1 formula (6)
Step (3.3) searches for discrete frequency corresponding to signal power function P (k) maximum value and indexes k0:
k0=arg max1≤k≤N/2-1[P (k)] formula (7)
Wherein argmax1≤k≤N/2-1[P (k)] indicate searched within the scope of 1≤k≤N/2-1 | P (k) | maximum value institute it is right
The discrete frequency index answered；
Step (3.4) takes the discrete Fourier transform X (k), V of three road signalsx(k) and Vy(k) in k0Value X (the k at place0)、Vx
(k0)、Vy(k0), real part ξ is sought after respectively conjugated multiplicationx1And ξy1:
ξx1=Re [X (k0)]Re[Vx(k0)]+Im[X(k0)]Im[Vx(k0)] formula (8)
ξy1=Re [X (k0)]Re[Vy(k0)]+Im[X(k0)]Im[Vy(k0)] formula (9)
The real part ξ that step (3.5) will acquirex1And ξy1Arctan function is substituted into, the signal for just estimating just to be estimated is carried out
Arrival bearing:
Wherein, tan-1() is arctangent cp cp operation.
In step 3, what point five steps were realized: the first step, the discrete fourier for calculating sound pressure signal signal acquisition sequence become
Change X (k) and X-direction, the discrete Fourier transform V of Y-direction vibration velocity vibration velocity signal acquisition sequencex(k) and Vy(k) crosspower spectrum
Modulus value square Px(k) and Py(k)；Step 2: calculating Px(k) and Py(k) addition obtains power function P (k)；Third step, search
Discrete frequency corresponding to P (k) maximum value indexes k0；Step 4: taking the discrete Fourier transform of three road signals in k0The value at place,
Real part ξ is sought after respectively conjugated multiplicationx1And ξy1；5th step, according to ξx1And ξy1Acquire the first estimation of signal arrival bearing.
Step 4: according to the signal arrival bearing θ just estimated1Estimate signal frequencySteps are as follows for calculating:
Step (4.1) passes through the discrete Fourier transform X (k), V of three road signalsx(k) and Vy(k) frequency departure is calculated separately
δp、δy、δx, it may be assumed that
Wherein, X (k0)、Vx(k0)、Vy(k0) respectively indicate discrete Fourier transform X (k), Vx(k) and Vy(k) in k0Place
Value and X (k0-1)、Vx(k0-1)、Vy(k0- 1) discrete Fourier transform X (k), V are respectively indicatedx(k) and Vy(k) in k0- 1 place
Value and X (k0+1)、Vx(k0+1)、Vy(k0+ 1) discrete Fourier transform X (k), V are respectively indicatedx(k) and Vy(k) in k0+ 1 place
Value.
Step (4.2) is according to the signal arrival bearing θ just estimated1Select different frequency departure δp、δy、δxIt calculates opposite
Frequency departure δ:
If | sin θ1| > | cos θ1|, select the frequency departure of acoustic pressure and Y-direction vibration velocity to calculate relative frequency deviation δ:
If | cos θ1| > | sin θ1|, select the frequency departure of acoustic pressure and X-direction vibration velocity to calculate relative frequency deviation δ:
If | cos θ1|=| sin θ1|, acoustic pressure is selected, X-direction vibration velocity and Y-direction vibration velocity frequency departure calculating relative frequency are inclined
Poor δ:
Step (4.3) estimates signal frequency using relative frequency deviation δ
Wherein Δ f is the frequency resolution for the discrete Fourier transform that length is N, Δ f=fs/ N, fsSignal is sampling frequency
Rate；
In step 4, relative frequency deviation δ is calculated, as the pre- of single vector hydrophone signal frequency relative deviation
Valuation；Be divided into the realization of three steps: the first step calculates separately frequency departure by the discrete Fourier transform of three road signals；Second
Step, according to the signal arrival bearing θ just estimated1Different signals is selected to calculate relative frequency deviation δ；Third step, using opposite
Frequency departure δ estimates signal frequency
Step 5: acoustic pressure, X-direction and Y-direction vibration velocity signal acquisition sequence p (n are calculated separately1)、vx(n2) and vy(n3)
Estimate frequency pointThe single-point Fourier transformation result Z at placep, Zx, Zy, calculating process is as follows:
Step 6: by the single-point Fourier transformation result Z of sound pressure signal acquisition sequencepRespectively with X-direction and Y-direction vibration velocity
The single-point Fourier transformation result Z of signal acquisition sequencex, ZyConjugate multiplication is carried out, and the real part ξ of conjugate multiplication is calculatedxWith
ξy, calculating process is as follows:
ξx=Re [Zp]Re[Zx]+Im[Zp]Im[Zx] formula (21)
ξy=Re [Zp]Re[Zy]+Im[Zp]Im[Zy] formula (22)
Step 7: according to the real part ξ of conjugate multiplicationxAnd ξy, substitute into antitrigonometric function and calculate and estimate to obtain single vector water
Listen the arrival bearing of device signalProcess is as follows:
Wherein, tan-1() is arctangent cp cp operation.
Acoustic pressure, X-direction and the Y-direction signal acquisition sequence that method proposed by the present invention is received using single vector hydrophone
Just estimation is carried out to signal arrival bearing；And according to first estimation angle select different sample sequences combine for signal frequency into
Row amendment, the signal frequency finally estimated make the list of acoustic pressure, X-direction and Y-direction signal acquisition sequence on this Frequency point
Point Fourier transformation, then seeks the conjugate multiplication real part of X-direction vibration velocity signal Yu sound pressure signal single-point Fourier transformation, Yi Jiyu
The conjugate multiplication real part of Y-direction vibration velocity signal and sound pressure signal single-point Fourier transformation, and substitute into antitrigonometric function and calculated,
Acquire the final estimation angle of signal arrival bearing.
In the present invention, single vector hydrophone receipt signal model are as follows:
Wherein A is the amplitude that single vector hydrophone receives signal,The initial phase of signal is received for single vector hydrophone
Position, N are signal sampling points, f0For signal frequency, fsFor sample frequency, θ is signal arrival bearing, i.e., value to be estimated, np
(n1), nx(n2), ny(n3) it is respectively the received mutually independent white Gaussian noise of three road signals, the mean value of three is 0, and variance is
σ2, and the size of variance is determined by Signal to Noise Ratio (SNR):
SNR=10log10[A2/(2σ2)]
In order to verify the frequency spectrum for extracting three road signal of vector hydrophone that the method for the present invention can be more accurate, avoid often
Spectral leakage present in rule method now arranges and carries out verifying explanation for two example two.
Embodiment 1,
In the present embodiment, emulation signal parameter is respectively set are as follows: signal amplitude A=1, initial phaseSampled point
Number N=1024, sample frequency fs=4000Hz, then the frequency resolution Δ f=f of discrete Fourier transforms/ N=3.9063Hz,
Signal frequency f0=277Hz, signal arrival bearing θ=50 °, Signal to Noise Ratio (SNR)=- 3dB.
Fig. 2 is the crosspower spectrum for the emulation single vector hydrophone signal normalization that frequency shown in the present embodiment is 277Hz
Modulus value quadratic sum, figure it is seen that index corresponding to crosspower spectrum modulus value quadratic sum maximum value is 71.
K is indexed to obtain corresponding to search crosspower spectrum modulus value quadratic sum maximum value0=71.Formula (10) are arrived using formula (8), are asked
The first estimation angle, θ obtained1=49.6824 °.
Due to | sin θ1| > | cos θ1|, select the frequency departure of acoustic pressure and Y-direction vibration velocity to estimate frequency departure δ
Meter, i.e. formula (14):
Further estimation frequency is calculated according to formula (17)
Next it is acquired using formula (18), formula (19) and formula (20):
Zp=-0.0150-0.5035i
Zx=-0.0195-0.3100i
Zy=-0.0120-0.3685i
Further acquired using formula (21), formula (22):
ξx=0.1564, ξy=0.1853
Then, formula (23) are substituted into acquire:
Estimate arrival bearing's relative error
Embodiment 2
In the present embodiment, emulation signal parameter is respectively set are as follows: signal amplitude A=1, initial phaseSampled point
Number N=1024, sample frequency fs=4000Hz, then the frequency resolution Δ f=f of discrete Fourier transforms/ N=3.9063Hz,
Signal frequency f0=314Hz, signal arrival bearing θ=35 °, Signal to Noise Ratio (SNR)=3dB.
Fig. 3 is the crosspower spectrum for the emulation single vector hydrophone signal normalization that frequency shown in the present embodiment is 277Hz
Modulus value quadratic sum, from figure 3, it can be seen that index corresponding to crosspower spectrum modulus value quadratic sum maximum value is 80.
K is indexed to obtain corresponding to search crosspower spectrum modulus value quadratic sum maximum value0=80.Formula (10) are arrived using formula (8), are asked
The first estimation angle, θ obtained1=34.2210 °.
Due to | cos θ1| > | sin θ1|, select the frequency departure of acoustic pressure and X-direction vibration velocity to estimate frequency departure δ
Meter, i.e. formula (15):
Further estimation frequency is calculated according to formula (17)
Next it is acquired using formula (18), formula (19) and formula (20):
Zp=-0.0108-0.5114i
Zx=-0.0028-0.4097i
Zy=-0.0092-0.2876i
Further acquired using formula (21), formula (22):
ξx=0.2095, ξy=0.1472
Then, formula (23) are substituted into acquire:
Estimate arrival bearing's relative error
From above-described embodiment 1 and embodiment 2 as can be seen that estimation method of the present invention can obtain good estimated accuracy,
And calculate simply, calculation amount is small, and the occasion of single vector hydrophone signal arrival bearing is quickly estimated suitable for high-precision.
Therefore, the frequency spectrum for the extraction three road signal of vector hydrophone that the method for the present invention can be more accurate by frequency estimation,
The problem of avoiding spectral leakage present in conventional method, under the conditions of same signal-to-noise ratio, the method for the present invention estimated accuracy is more
It is high；Under the conditions of different signal-to-noise ratio, the accessible signal-to-noise ratio lower limit of this method is lower.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Claims (8)
1. a kind of single vector hydrophone signal arrival bearing's estimation method based on frequency estimation, which is characterized in that including following
Step:
Step 1: the sound pressure signal acquisition sequence p (n of single vector hydrophone signal to be processed is obtained1) and in the x, y direction
Vibration velocity signal acquisition sequence vx(n2)、vy(n3), wherein p (n1),n1=0,1 ... N-1, vx(n2),n2=0,1 ... N-1, vy
(n3),n3=0,1 ... N-1, the n1、n2、n3Sampled point is respectively indicated, N indicates number of sampling points, the integer that N value is 2
Power, and N >=4；
Step 2: sound pressure signal acquisition sequence p (n is calculated separately1) and vibration velocity signal acquisition sequence v in the x, y directionx(n2)、
vy(n3) discrete Fourier transform X (k), Vx(k) and Vy(k), wherein k indicates X (k), Vx(k) and Vy(k) discrete frequency rope
Draw；
Step 3: according to discrete Fourier transform X (k), the V calculatedx(k) and Vy(k) signal arrival bearing just estimate
To the signal arrival bearing θ just estimated1；
Step 4: according to the signal arrival bearing θ just estimated1Estimate signal frequencySpecifically:
Step (4.1) passes through discrete Fourier transform X (k), Vx(k) and Vy(k) it calculates separately to obtain frequency departure δp、δy、δx；
Step (4.2) is according to the signal arrival bearing θ just estimated1Select different frequency departure δp、δy、δxIt is inclined to calculate relative frequency
Poor δ:
If | sin θ1|>|cosθ1|, select the frequency departure of acoustic pressure and Y-direction vibration velocity to calculate relative frequency deviation δ:
If | cos θ1|>|sinθ1|, select the frequency departure of acoustic pressure and X-direction vibration velocity to calculate relative frequency deviation δ:
If | cos θ1|=| sin θ1|, acoustic pressure is selected, X-direction vibration velocity is opposite with the frequency departure of Y-direction vibration velocity to calculate frequency departure
δ:
Step (4.3) estimates signal frequency using relative frequency deviation δ
Wherein, Δ f is the frequency resolution for the discrete Fourier transform that length is N, Δ f=fs/ N, fsSignal is sample frequency；
Step 5: sound pressure signal, X-direction and Y-direction vibration velocity signal acquisition sequence p (n are calculated separately1)、vx(n2) and vy(n3)
Estimate signal frequencyThe single-point Fourier transformation result Z at placep,Zx,Zy；
Step 6: by the single-point Fourier transformation result Z of sound pressure signal acquisition sequencepRespectively with X, Y-direction vibration velocity signal acquisition sequence
The single-point Fourier transformation result Z of columnx,ZyConjugate multiplication is carried out, and the real part ξ of conjugate multiplication is calculatedxAnd ξy；
Step 7: according to the real part ξ of conjugate multiplicationxAnd ξy, substitute into antitrigonometric function and carry out that single vector hydrophone signal is calculated
Arrival bearing
2. single vector hydrophone signal arrival bearing's estimation method based on frequency estimation according to claim 1, feature
It is, the sound pressure signal acquisition sequence p (n of single vector hydrophone signal to be processed is obtained in the step 11) and in X, the side Y
Upward vibration velocity signal acquisition sequence vx(n2)、vy(n3), by the real-time acquisition for receiving N number of sampled point from single vector hydrophone
Data are as signal acquisition sequence p (n to be processed1)、vx(n2)、vy(n3), or extract from memory from detecting signal
The data of N number of sampled point from moment are as signal acquisition sequence p (n to be processed1)、vx(n2)、vy(n3)。
3. single vector hydrophone signal arrival bearing's estimation method based on frequency estimation according to claim 1, feature
It is, discrete Fourier transform X (k), V is calculated in the step 2x(k) and Vy(k), using formula:
Wherein k indicates X (k), Vx(k) and Vy(k) discrete frequency index, j indicate imaginary unit, i.e.,
4. single vector hydrophone signal arrival bearing's estimation method based on frequency estimation according to claim 1, feature
It is, the signal arrival bearing θ for just estimating just to be estimated is carried out in the step 31, specifically:
Step (3.1) calculate separately discrete Fourier transform X (k) respectively with Vx(k) and Vy(k) square of crosspower spectrum modulus value
Px(k),Py(k):
Px(k)=(| X (k) | | Vx(k)|)2, k=0,1 ... N-1
Py(k)=(| X (k) | | Vy(k)|)2, k=0,1 ... N-1
Wherein | | represent modulus value operation；
Step (3.2) is by the Px(k) and Py(k) it is added and obtains signal power function P (k):
P (k)=Px(k)+Py(k), k=0,1 ... N-1
Step (3.3) searches for discrete frequency corresponding to signal power function P (k) maximum value and indexes k0:
Wherein argmax1≤k≤N/2-1[P (k)] indicate searched within the scope of 1≤k≤N/2-1 | P (k) | maximum value corresponding to from
Dissipate frequency indices；
Step (3.4) takes discrete Fourier transform X (k), Vx(k) and Vy(k) in k0Value X (the k at place0)、Vx(k0)、Vy(k0), respectively
Real part ξ is sought after conjugate multiplicationx1And ξy1:
ξx1=Re [X (k0)]Re[Vx(k0)]+Im[X(k0)]Im[Vx(k0)]
ξy1=Re [X (k0)]Re[Vy(k0)]+Im[X(k0)]Im[Vy(k0)]
The real part ξ that step (3.5) will acquirex1And ξy1Arctan function is substituted into, the signal incoming wave for just estimating just to be estimated is carried out
Direction θ1:
Wherein, tan-1() is arctangent cp cp operation.
5. single vector hydrophone signal arrival bearing's estimation method based on frequency estimation according to claim 1, feature
It is, passes through discrete Fourier transform X (k), V in the step (4.1)x(k) and Vy(k) it calculates separately to obtain frequency departure δp、
δy、δx, using formula:
Wherein, X (k0)、Vx(k0)、Vy(k0) respectively indicate discrete Fourier transform X (k), Vx(k) and Vy(k) in k0The value at place, and
X(k0-1)、Vx(k0-1)、Vy(k0- 1) discrete Fourier transform X (k), V are respectively indicatedx(k) and Vy(k) in k0The value and X at -1 place
(k0+1)、Vx(k0+1)、Vy(k0+ 1) discrete Fourier transform X (k), V are respectively indicatedx(k) and Vy(k) in k0The value at+1 place.
6. single vector hydrophone signal arrival bearing's estimation method based on frequency estimation according to claim 1, feature
It is, sound pressure signal, X-direction and Y-direction vibration velocity signal acquisition sequence p (n is calculated in the step 51)、vx(n2) and vy(n3)
Estimating signal frequencyThe single-point Fourier transformation result Z at placep,Zx,Zy, using formula:
7. single vector hydrophone signal arrival bearing's estimation method based on frequency estimation according to claim 1, feature
It is, the real part ξ of conjugate multiplication is calculated in the step 6xAnd ξy, using formula:
ξx=Re [Zp]Re[Zx]+Im[Zp]Im[Zx]
ξy=Re [Zp]Re[Zy]+Im[Zp]Im[Zy]
Wherein, Re [] indicates real part；Im [] indicates imaginary part.
8. single vector hydrophone signal arrival bearing's estimation method based on frequency estimation according to claim 1, feature
It is, the arrival bearing of single vector hydrophone signal is calculated in the step 7Using formula:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910370347.8A CN110196407B (en) | 2019-05-06 | 2019-05-06 | Single-vector hydrophone signal incoming wave direction estimation method based on frequency estimation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910370347.8A CN110196407B (en) | 2019-05-06 | 2019-05-06 | Single-vector hydrophone signal incoming wave direction estimation method based on frequency estimation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110196407A true CN110196407A (en) | 2019-09-03 |
| CN110196407B CN110196407B (en) | 2022-06-24 |
Family
ID=67752418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910370347.8A Active CN110196407B (en) | 2019-05-06 | 2019-05-06 | Single-vector hydrophone signal incoming wave direction estimation method based on frequency estimation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110196407B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112415467A (en) * | 2020-11-06 | 2021-02-26 | 中国海洋大学 | Single-vector subsurface buoy target positioning implementation method based on neural network |
| CN112816937A (en) * | 2020-12-23 | 2021-05-18 | 中国船舶重工集团有限公司第七一0研究所 | Helicopter scale estimation method and device based on fundamental frequency line spectrum azimuth angle change rate |
| CN112881970A (en) * | 2021-01-18 | 2021-06-01 | 湖南国天电子科技有限公司 | Target direction finding method and system suitable for sonar buoy platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102981146A (en) * | 2012-11-19 | 2013-03-20 | 哈尔滨工程大学 | Passive positioning method of single-vector hydrophone |
| CN105182345A (en) * | 2015-09-26 | 2015-12-23 | 哈尔滨工程大学 | Continuous spectrum signal target automatic detection method based on single vector subsurface buoy |
| CN106066468A (en) * | 2016-05-25 | 2016-11-02 | 哈尔滨工程大学 | A kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum |
| CN106546949A (en) * | 2016-10-28 | 2017-03-29 | 东南大学 | A kind of double array element sinusoidal signal arrival bearing's methods of estimation based on frequency estimation meter |
| CN107728109A (en) * | 2017-09-18 | 2018-02-23 | 哈尔滨工程大学 | A kind of noncooperative target radiated noise measurement and positioning technology |
-
2019
- 2019-05-06 CN CN201910370347.8A patent/CN110196407B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102981146A (en) * | 2012-11-19 | 2013-03-20 | 哈尔滨工程大学 | Passive positioning method of single-vector hydrophone |
| CN105182345A (en) * | 2015-09-26 | 2015-12-23 | 哈尔滨工程大学 | Continuous spectrum signal target automatic detection method based on single vector subsurface buoy |
| CN106066468A (en) * | 2016-05-25 | 2016-11-02 | 哈尔滨工程大学 | A kind of based on acoustic pressure, the vector array port/starboard discrimination method of vibration velocity Mutual spectrum |
| CN106546949A (en) * | 2016-10-28 | 2017-03-29 | 东南大学 | A kind of double array element sinusoidal signal arrival bearing's methods of estimation based on frequency estimation meter |
| CN107728109A (en) * | 2017-09-18 | 2018-02-23 | 哈尔滨工程大学 | A kind of noncooperative target radiated noise measurement and positioning technology |
Non-Patent Citations (1)
| Title |
|---|
| 方子彦 等: "基于频率预估的单矢量水听器测向方法", 《声学技术》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112415467A (en) * | 2020-11-06 | 2021-02-26 | 中国海洋大学 | Single-vector subsurface buoy target positioning implementation method based on neural network |
| CN112415467B (en) * | 2020-11-06 | 2022-10-25 | 中国海洋大学 | Single-vector subsurface buoy target positioning implementation method based on neural network |
| CN112816937A (en) * | 2020-12-23 | 2021-05-18 | 中国船舶重工集团有限公司第七一0研究所 | Helicopter scale estimation method and device based on fundamental frequency line spectrum azimuth angle change rate |
| CN112881970A (en) * | 2021-01-18 | 2021-06-01 | 湖南国天电子科技有限公司 | Target direction finding method and system suitable for sonar buoy platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110196407B (en) | 2022-06-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106443178B (en) | A kind of sinusoidal signal frequency estimation method comprehensive based on IQuinn-Rife | |
| CN110196407A (en) | A kind of single vector hydrophone signal arrival bearing's estimation method based on frequency estimation | |
| CN106950529B (en) | Acoustic vector near field sources ESPRIT and MUSIC method for parameter estimation | |
| CN110852201A (en) | Pulse signal detection method based on multi-pulse envelope spectrum matching | |
| CN106546949B (en) | A kind of double array element sinusoidal signal arrival bearing's estimation methods based on frequency estimation | |
| CN107707324B (en) | A kind of acoustical signal delay time estimation method based on phase difference and maximal possibility estimation | |
| CN108509377B (en) | Pulse signal arrival time and pulse width estimation method based on edge feature extraction | |
| CN106646350B (en) | A kind of modification method when each channel amplitude gain of single vector hydrophone is inconsistent | |
| CN107797096A (en) | A kind of detection localization method of blowing a whistle based on microphone face battle array | |
| CN102013911A (en) | Broadband signal direction of arrival (DOA) estimation method based on threshold detection | |
| CN110007148A (en) | A kind of simple signal frequency estimating methods based on the comprehensive interpolation of discrete spectrum phase and amplitude | |
| Djukanović et al. | Efficient and accurate detection and frequency estimation of multiple sinusoids | |
| CN107305223B (en) | Improved phase difference frequency estimation method | |
| CN103941089A (en) | Method for estimating sinusoidal signal frequency based on DFT | |
| CN110068727B (en) | Single-frequency signal frequency estimation method based on Candan-Rife comprehensive interpolation | |
| CN109799495A (en) | A kind of broadband delay time estimation method for high-fidelity ARRAY PROCESSING | |
| Yu et al. | Estimating the delay-Doppler of target echo in a high clutter underwater environment using wideband linear chirp signals: Evaluation of performance with experimental data | |
| CN110082741A (en) | A kind of super-resolution DOA estimate algorithm based on pseudo- data reconstruction | |
| CN110346752A (en) | Nothing based on relatively prime Sparse Array obscures direction-finding method | |
| CN108318855A (en) | Near-field and far-field mixed signal source positioning method based on uniform circular array | |
| CN108089146A (en) | A kind of high-resolution broadband Wave arrival direction estimating method to estimating angle error robust | |
| Liu et al. | SCH: a speed measurement method of combined hyperbolic frequency modulation signals | |
| CN110376546A (en) | Far field and near field mixed information source positioning method based on covariance matrix difference | |
| CN106533394B (en) | A kind of high-precision frequency estimating methods based on sef-adapting filter amplitude-frequency response | |
| CN108269581B (en) | Double-microphone time delay difference estimation method based on frequency domain coherent function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |